鲁棒高速公路自动驾驶算法

2009 IEEE Intelligent Vehicles Symposium Pub Date : 2009-06-03 DOI:10.1109/IVS.2009.5164420

Junqing Wei, J. Dolan

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引用次数: 31

摘要

介绍了一种基于鲁棒预测和成本函数的高速公路自动驾驶算法。一个预测引擎被建立，使自动驾驶汽车能够估计人类驾驶员的意图。成本函数库用于帮助行为规划者生成最佳策略。最后，该算法在DARPA 2007城市挑战赛Tartan赛车队使用的实时车辆仿真平台上进行了测试。

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A robust autonomous freeway driving algorithm

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.

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2009 IEEE Intelligent Vehicles Symposium

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