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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

Page(s):
1015 - 1020
ISSN :
1931-0587
E-ISBN :
978-1-4244-3504-3
Print ISBN:
978-1-4244-3503-6
INSPEC Accession Number:
10763035
Conference Location :
Xi'an
Digital Object Identifier :
10.1109/IVS.2009.5164420
Product Type:
Conference Publications

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