Carnegie Mellon University
Automated Highways and the Free Agent Demonstration

Chuck Thorpe, Todd Jochem, and Dean Pomerleau
International Symposium on Robotics Research, October, 1997.

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In August of 1997, The US National Automated Highway System Consortium (NAHSC) presented a proof of technical feasibility demonstration of automated driving. The 97 Demo took place on car-pool lanes on I-15 in San Diego, California. Members of the Consortium demonstrated many different functions, including:
    Vision-based road following
    Lane departure warning
    Magnetic nail following
    Radar reflective strip following
    Radar-based headway maintenance
    Ladar-based headway maintenance
    Partial automation and evolutionary systems
    Close vehicle following (platooning)
    Cooperative maneuvering
    Obstacle detection and avoidance
    Mixed automated and manual driving
    Mixed automated cars and buses
    Semi-automated maintenance operations

Carnegie Mellon University (CMU) led the effort to build the Free Agent Demonstration (FAD). The FAD involved two fully-automated cars, one partially-automated car, and two fully-automated city buses. The scenario demonstrated speed and headway control, lane following, lane changing, obstacle detection, and cooperative obstacle avoidance maneuvers.

This paper describes the demonstration itself, the technology that made the demonstration possible, and the current efforts to turn the demonstration system into a practical prototype.

Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): NavLab

Text Reference
Chuck Thorpe, Todd Jochem, and Dean Pomerleau , "Automated Highways and the Free Agent Demonstration," International Symposium on Robotics Research, October, 1997.

BibTeX Reference
   author = "Chuck Thorpe and Todd Jochem and Dean {Pomerleau }",
   title = "Automated Highways and the Free Agent Demonstration",
   booktitle = "International Symposium on Robotics Research",
   month = "October",
   year = "1997",