A hardware and software framework for cognitive automobiles

Author

Werling, Moritz ; Goebl, Matthias ; Pink, Oliver ; Stiller, Christoph

Author_Institution

Inst. of Appl. Comput. Sci./Autom., Univ. of Karlsruhe (TH), Karlsruhe

fYear

2008

fDate

4-6 June 2008

Firstpage

1080

Lastpage

1085

Abstract

This paper describes the hardware and software framework of AnnieWAY, an autonomous vehicle successfully competing at all qualification stages up to the finals of the DARPA Urban Challenge 2007 competition. Besides the hardware premises for by-wire steering, braking, throttle control and sensors, two frameworks for high-level decision making and low-level control are described in detail. Furthermore, this contribution points out AnnieWAYpsilas safety features for both unmanned competition runs and manned testing. The system proves to be flexible, expandable, and robust at the same time.

Keywords

automobiles; braking; cognitive systems; decision making; steering systems; traffic engineering computing; AnnieWAY; autonomous vehicle; braking; by-wire steering; cognitive automobiles; decision making; sensors; throttle control; Automobiles; Decision making; Hardware; Mobile robots; Qualifications; Remotely operated vehicles; Robustness; Safety; Sensor phenomena and characterization; Testing; AnnieWAY; DARPA Urban Challenge; autonomous; cognitive automobile; hardware framework; software framework;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2008 IEEE

Conference_Location

Eindhoven

ISSN

1931-0587

Print_ISBN

978-1-4244-2568-6

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2008.4621225

Filename

4621225