Title :
Systems for Safety and Autonomous Behavior in Cars: The DARPA Grand Challenge Experience
Author :
Ozguner, U. ; Stiller, C. ; Redmill, K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH
Abstract :
In this paper, we review technologies for autonomous ground vehicles and their present capabilities in research and in the automotive market. We outline technology requirements for enhanced functions and for infrastructure development. Since the recent Grand Challenge competition is a major force to advance technology in this field, we specifically refer to our experiences in developing a participating vehicle. We present a multisensor platform that has been proven in an off-road environment. It combines different sensing modalities that inherently yield uncertain information. Finite-state machines are formulated to generate rule-based autonomous behavior that enables fully autonomous off-road driving. Overall, the intent of the paper is to evaluate approaches and technologies used in the two Grand Challenges as they contribute to the needs of autonomous cars on the road
Keywords :
automobiles; automotive electronics; finite state machines; knowledge based systems; road safety; sensor fusion; DARPA Grand Challenge; automotive market; autonomous ground vehicles; car safety systems; enhanced functions; finite-state machines; infrastructure development; intelligent vehicles; multisensor platform; rule-based autonomous behavior; sensor fusion; technology requirements; Automotive engineering; Intelligent vehicles; Land vehicles; Mobile robots; Navigation; Paper technology; Remotely operated vehicles; Roads; Sensor fusion; Vehicle safety; Autonomous systems; autonomous vehicles; cars; intelligent vehicles; safety; sensor fusion;
Journal_Title :
Proceedings of the IEEE
DOI :
10.1109/JPROC.2006.888394
