Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge

  • Authors:

  • Sören Kammel;Julius Ziegler;Benjamin Pitzer;Moritz Werling;Tobias Gindele;Daniel Jagzent;Joachim Schröder;Michael Thuy;Matthias Goebl;Felix von Hundelshausen;Oliver Pink;Christian Frese;Christoph Stiller

  • Affiliations:

  • Institute for Measurement and Control University of Karlsruhe, 76131 Karlsruhe, Germany;Institute for Measurement and Control University of Karlsruhe, 76131 Karlsruhe, Germany;Institute for Measurement and Control University of Karlsruhe, 76131 Karlsruhe, Germany;Institute for Applied Computer Science-Automation, University of Karlsruhe, 76128 Karlsruhe, Germany;Industrial Applications of Informatics, and Microsystems, University of Karlsruhe, 76131 Karlsruhe, Germany;Industrial Applications of Informatics, and Microsystems, University of Karlsruhe, 76131 Karlsruhe, Germany;Industrial Applications of Informatics, and Microsystems, University of Karlsruhe, 76131 Karlsruhe, Germany;Institute for Distributed Measurement Systems;Institute for Real-Time Computer Systems Technical University of Munich, 80290 Munich, Germany;Department of Aerospace Engineering University of the Federal Armed Forces, 85577 Neubiberg, Germany;Institute for Measurement and Control;Industrial Applications of Informatics, and Microsystems;Institute for Measurement and Control University of Karlsruhe, 76131 Karlsruhe, Germany

  • Venue:
  • Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
  • Year:
  • 2008

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Abstract

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner that delivers both range and reflectivity measurements. Whereas range measurements are used to provide three-dimensional scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2008 Wiley Periodicals, Inc.