Caroline: An autonomously driving vehicle for urban environments

  • Authors:

  • Fred W. Rauskolb;Kai Berger;Christian Lipski;Marcus Magnor;Karsten Cornelsen;Jan Effertz;Thomas Form;Fabian Graefe;Sebastian Ohl;Walter Schumacher;Jörn-Marten Wille;Peter Hecker;Tobias Nothdurft;Michael Doering;Kai Homeier;Johannes Morgenroth;Lars Wolf;Christian Basarke;Christian Berger;Tim Gülke;Felix Klose;Bernhard Rumpe

  • Affiliations:

  • Herzfeld & Rubin, P.C., 40 Wall Street, New York, New York 10005;Institute of Computer Graphics, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany;Institute of Computer Graphics, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany;Institute of Computer Graphics, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany;Institute of Control Engineering, Hans-Sommer-Straβe 66, 38106 Braunschweig, Germany;Institute of Control Engineering, Hans-Sommer-Straβe 66, 38106 Braunschweig, Germany;Institute of Control Engineering, Hans-Sommer-Straβe 66, 38106 Braunschweig, Germany;Institute of Control Engineering, Hans-Sommer-Straβe 66, 38106 Braunschweig, Germany;Institute of Control Engineering, Hans-Sommer-Straβe 66, 38106 Braunschweig, Germany;Institute of Control Engineering, Hans-Sommer-Straβe 66, 38106 Braunschweig, Germany;Institute of Control Engineering, Hans-Sommer-Straβe 66, 38106 Braunschweig, Germany;Institute of Flight Guidance, Hermann-Blenk-Straβe 27, 38108 Braunschweig, Germany;Institute of Flight Guidance, Hermann-Blenk-Straβe 27, 38108 Braunschweig, Germany;Institute of Operating Systems, and Computer Networks;Institute of Operating Systems, and Computer Networks;Institute of Operating Systems, and Computer Networks;Institute of Operating Systems, and Computer Networks;Institute of Software Systems Engineering, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany;Institute of Software Systems Engineering, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany;Institute of Software Systems Engineering, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany;Institute of Software Systems Engineering, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany;Institute of Software Systems Engineering, Mühlenpfordtstraβe 23, 38106 Braunschweig, Germany

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

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Abstract

The 2007 DARPA Urban Challenge afforded the golden opportunity for the Technische Universität Braunschweig to demonstrate its abilities to develop an autonomously driving vehicle to compete with the world's best. After several stages of qualification, our team CarOLO qualified early for the DARPA Urban Challenge Final Event and was among only 11 teams from initially 89 competitors to compete in the final. We had the ability to work together in a large group of experts, each contributing his expertise in his discipline, and significant organizational, financial, and technical support by local sponsors, who helped us to become the best non-U.S. team. In this report, we describe the 2007 DARPA Urban Challenge, our contribution, “Caroline,” the technology, and algorithms, along with her performance in the DARPA Urban Challenge Final Event on November 3, 2007. © 2008 Wiley Periodicals, Inc.