Team AnnieWAY's Entry to the 2011 Grand Cooperative Driving Challenge

In this paper, we present the concepts and methods developed for the autonomous vehicle known as AnnieWAY, which is our winning entry to the 2011 Grand Cooperative Driving Challenge. We describe algorithms for sensor fusion, vehicle-to-vehicle communication, and cooperative control. Furthermore, we analyze the performance of the proposed methods and compare them with those of competing teams. We close with our results from the competition and lessons learned.