United States Department of Transportation
i
Towards a Viable Autonomous Driving Research Platform
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2019-01-01
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[PDF-3.51 MB]
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Edition:Final
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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 workzone 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.
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