Abstract
Each year, millions of motor vehicle traffic accidents all over the world cause a large number of fatalities, injuries and significant material loss. Automated Driving (AD) has potential to drastically reduce such accidents. In this work, we focus on the technical challenges that arise from AD in urban environments. We present the overall architecture of an AD system and describe in detail the perception and planning modules. The AD system, built on a modified Acura RLX, was demonstrated in a course in GoMentum Station in California. We demonstrated autonomous handling of 4 scenarios: Traffic lights, cross-Traffic at intersections, construction zones and pedestrians. The AD vehicle displayed safe behavior and performed consistently in repeated demonstrations with slight variations in conditions. Overall, we completed 44 runs, encompassing 110km of automated driving with only 3 cases where the driver intervened the control of the vehicle, mostly due to error in GPS positioning. Our demonstration showed that robust and consistent behavior in urban scenarios is possible, yet more investigation is necessary for full scale rollout on public roads.
Original language | English |
---|---|
Title of host publication | 2017 IEEE Intelligent Vehicles Symposium (IV 2017) |
Editors | Wei-Bin Zhang, Arnaud de La Fortelle, Tankut Acarman, Ming Yang |
Place of Publication | Piscataway NJ USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 1811-1818 |
Number of pages | 8 |
ISBN (Electronic) | 9781509048045, 9781509048038 |
ISBN (Print) | 9781509048052 |
DOIs | |
Publication status | Published - 28 Jul 2017 |
Externally published | Yes |
Event | Intelligent Vehicles Symposium 2017 - Redondo Beach, United States of America Duration: 11 Jun 2017 → 14 Jun 2017 Conference number: 28th http://iv2017.org/ https://ieeexplore.ieee.org/xpl/conhome/7987634/proceeding (Proceedings) |
Conference
Conference | Intelligent Vehicles Symposium 2017 |
---|---|
Abbreviated title | IEEE IV 2017 |
Country/Territory | United States of America |
City | Redondo Beach |
Period | 11/06/17 → 14/06/17 |
Internet address |