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A robust autonomous freeway driving algorithm

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2 Author(s)
Junqing Wei ; Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Dolan, J.M.

This paper introduces a robust prediction- and cost-function based algorithm for autonomous freeway driving. A prediction engine is built so that the autonomous vehicle is able to estimate human drivers' intentions. A cost function library is used to help behavior planners generate the best strategies. Finally, the algorithm is tested in a real-time vehicle simulation platform used by the Tartan Racing Team for the DARPA Urban Challenge 2007.

Published in:

Intelligent Vehicles Symposium, 2009 IEEE

Date of Conference:

3-5 June 2009