Autonomous driving in urban environments: Boss and the Urban Challenge

摘要: Boss is an autonomous vehicle that uses on-board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, localize itself relative a road model. A three-layer planning system combines mission, behavioral, motion drive in urban environments. The mission layer considers which street take achieve goal. behavioral determines when change lanes precedence at intersections performs error recovery maneuvers. selects actions avoid obstacles while making progress toward local goals. was developed from the ground up address requirements of DARPA Urban Challenge using spiral development process with heavy emphasis on regular, regressive testing. During National Qualification Event 85-km Final Event, demonstrated some its capabilities, qualifying first winning challenge. © 2008 Wiley Periodicals, Inc.