Towards a Viable Autonomous Driving Research Platform

Wei, Junqing; Snider, Jarrod M; Kim, Junsung; Dolan, John M; Rajkumar, Raj; Litkouhi, Bakhtiar

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Towards a Viable Autonomous Driving Research Platform

2019-01-01
By Wei, Junqing ; Snider, Jarrod M ; Kim, Junsung

File Language:

English

Details

Creators:

Wei, Junqing ; Snider, Jarrod M ; Kim, Junsung ; Dolan, John M ; Rajkumar, Raj ; Litkouhi, Bakhtiar
Corporate Creators:

Technologies for Safe and Efficient Transportation. University Transportation Center ; Carnegie Mellon University ; University of Pennsylvania
Corporate Contributors:

United States. Department of Transportation. University Transportation Centers (UTC) Program ; United States. Department of Transportation. Office of the Assistant Secretary for Research and Technology
Subject/TRT Terms:
Resource Type:

Tech Report
Geographical Coverage:

United States
Edition:

Final
Corporate Publisher:

Technologies for Safe and Efficient Transportation. University Transportation Center
Abstract:

The authors present an autonomous driving research vehicle with minimal appearance modifications that is capable of a wide range of autonomous and intelligent behaviors, including smooth and comfortable trajectory generation and following; lane keeping and lane changing; intersection handling with or without vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V); and pedestrian, bicyclist, and work zone detection. Safety and reliability features include a fault-tolerant computing system; smooth and intuitive autonomous-manual switching; and the ability to fully disengage and power down the drive-by-wire and computing system upon E-stop. The vehicle has been tested extensively on both a closed test field and public roads.
Format:

PDF
Funding:

DTRT-13-GUTC-26
Download URL:

https://rosap.ntl.bts.gov/view/dot/62056/dot_62056_DS1.pdf
File Type:

[PDF - 3.51 MB]
Collection(s):

Autonomous Vehicles ; University Transportation Centers
Main Document Checksum:

urn:sha-512:a9d4c5b4f6e1b98b81315d6903407c221753abda63e442f545056ac61e1c1745fa386f0ccb2f1074aacada58f64127bc0bb32d6117dff3cf7e1e50ec352a8b15

File Language:

English

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