Towards full automated drive in urban environments: a demonstration in GoMentum Station, California

Akansel Cosgun, Lichao Ma, Jimmy Chiu, Jiawei Huang, Mahmut Demir, Alexandre Miranda Anon, Thang Lian, Hasan Tafish, Samir Al-Stouhi

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

19 Citations (Scopus)


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 languageEnglish
Title of host publication2017 IEEE Intelligent Vehicles Symposium (IV 2017)
EditorsWei-Bin Zhang, Arnaud de La Fortelle, Tankut Acarman, Ming Yang
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781509048045, 9781509048038
ISBN (Print)9781509048052
Publication statusPublished - 28 Jul 2017
Externally publishedYes
EventIntelligent Vehicles Symposium 2017 - Redondo Beach, United States of America
Duration: 11 Jun 201714 Jun 2017
Conference number: 28th (Proceedings)


ConferenceIntelligent Vehicles Symposium 2017
Abbreviated titleIEEE IV 2017
CountryUnited States of America
CityRedondo Beach
Internet address

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