Autonomous driving in urban environments: Boss and the Urban Challenge
Автономное вождение в городской среде: Boss и Urban Challenge
2008-07-23
SCID: 54.1/8c4c49fj
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DARPA Urban Challengeautonomous vehicleobstacle avoidancethree-layer planning systemurban environments
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Abstract (AI)
Abstract Boss is an autonomous vehicle that uses on‐board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three‐layer planning system combines mission, behavioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes and precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and the 85‐km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge. © 2008 Wiley Periodicals, Inc.
Key Findings
1
Boss is an autonomous vehicle integrating GPS, laser, radar, and camera sensors to track vehicles, detect static obstacles, and localize against a road model.
2
Boss qualified first at the National Qualification Event and won the 85-km Urban Challenge Final Event.
3
Boss was developed for the DARPA Urban Challenge using spiral development and extensive regular regression testing.
4
Its three-layer planning architecture combines mission routing, behavioral decisions such as lane changes and intersection precedence, and motion planning for obstacle avoidance.
5
The behavioral planner includes error-recovery maneuvers, while the motion planner selects actions that avoid obstacles and advance local driving goals.
Research Object
Boss autonomous vehicle operating in urban environments
Research Subject
Autonomous driving capabilities, including vehicle tracking, obstacle detection, localization, layered planning, lane changing, intersection precedence, and obstacle avoidance
Publication Details
Publication Date
2008-07-23
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