PROUD—Public Road Urban Driverless-Car Test

This paper presents an autonomous driving test held in Parma on urban roads and freeways open to regular traffic. During this test, the vehicle not only performed simple maneuvers, but it had to cope with complex driving scenarios as well, including roundabouts, junctions, pedestrian crossings, freeway junctions, and traffic lights. The test demonstrated the ability of the current technology to manage real situations and not only the well-structured and predictable ones. A comparison of milestones, challenges, and key results in autonomous driving is presented to highlight the novelty and the specific purpose of the test. The whole system is described: the vehicle; the software architecture; details about high-, medium-, and low-level control; and details about perception algorithms. A conclusion highlights the achieved results and draws possible directions for future development.