A Reasoning Framework for Autonomous Urban Driving

David Ferguson , Christopher R. Baker , Maxim Likhachev, and John M. Dolan
Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008), June, 2008, pp. 775-780.


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Abstract
Urban driving is a demanding task for autonomous vehicles as it requires the development and integration of several challenging capabilities, including highlevel route planning, interaction with other vehicles, complex maneuvers, and ultra-reliability. In this paper, we present a reasoning framework for an autonomous vehicle navigating through urban environments. Our approach combines routelevel planning, context-sensitive local decision making, and sophisticated motion planning to produce safe, intelligent actions for the vehicle. We provide examples from an implementation on an autonomous passenger vehicle that has driven over 3000 autonomous kilometers and competed in, and won, the Urban Challenge.

Keywords
urban challenge, autonomous driving, motion planning, behaviors

Notes
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Urban Challenge
Number of pages: 6

Text Reference
David Ferguson , Christopher R. Baker , Maxim Likhachev, and John M. Dolan, "A Reasoning Framework for Autonomous Urban Driving," Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008), June, 2008, pp. 775-780.

BibTeX Reference
@inproceedings{Ferguson__2008_6207,
   author = "David {Ferguson } and Christopher R. {Baker } and Maxim Likhachev and John M Dolan",
   title = "A Reasoning Framework for Autonomous Urban Driving",
   booktitle = "Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008)",
   pages = "775-780",
   address = "Eindhoven, Netherlands",
   month = "June",
   year = "2008",
}