Carnegie Mellon University
A Robust Autonomous Freeway Driving Algorithm

Junqing Wei and John M. Dolan
2009 IEEE Intelligent Vehicles Symposium, June, 2009, pp. 1015-1020.

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This paper introduces a robust prediction- and costfunction 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.

autonomous driving, cost function, prediction

Sponsor: General Motors
Associated Project(s): Robust Autonomous Freeway Driving Behaviors
Number of pages: 6

Text Reference
Junqing Wei and John M. Dolan, "A Robust Autonomous Freeway Driving Algorithm," 2009 IEEE Intelligent Vehicles Symposium, June, 2009, pp. 1015-1020.

BibTeX Reference
   author = "Junqing Wei and John M Dolan",
   title = "A Robust Autonomous Freeway Driving Algorithm",
   booktitle = "2009 IEEE Intelligent Vehicles Symposium",
   pages = "1015-1020",
   month = "June",
   year = "2009",