Chapter

The DARPA Urban Challenge

Volume 56 of the series Springer Tracts in Advanced Robotics pp 91-123

Junior: The Stanford Entry in the Urban Challenge

  • Michael MontemerloAffiliated withStanford Artificial Intelligence Lab, Stanford University
  • , Jan BeckerAffiliated withRobert Bosch LLC, Research and Technology Center
  • , Suhrid BhatAffiliated withElectronics Research Lab, Volkswagen of America
  • , Hendrik DahlkampAffiliated withStanford Artificial Intelligence Lab, Stanford University
  • , Dmitri DolgovAffiliated withStanford Artificial Intelligence Lab, Stanford University
  • , Scott EttingerAffiliated withIntel Research
  • , Dirk HaehnelAffiliated withStanford Artificial Intelligence Lab, Stanford University
  • , Tim HildenAffiliated withElectronics Research Lab, Volkswagen of America
  • , Gabe HoffmannAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Burkhard HuhnkeAffiliated withElectronics Research Lab, Volkswagen of America
    • , Doug JohnstonAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Stefan KlumppAffiliated withElectronics Research Lab, Volkswagen of America
    • , Dirk LangerAffiliated withElectronics Research Lab, Volkswagen of America
    • , Anthony LevandowskiAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Jesse LevinsonAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Julien MarcilAffiliated withElectronics Research Lab, Volkswagen of America
    • , David OrensteinAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Johannes PaefgenAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Isaac PennyAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Anna PetrovskayaAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Mike PfluegerAffiliated withElectronics Research Lab, Volkswagen of America
    • , Ganymed StanekAffiliated withElectronics Research Lab, Volkswagen of America
    • , David StavensAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Antone VogtAffiliated withStanford Artificial Intelligence Lab, Stanford University
    • , Sebastian ThrunAffiliated withStanford Artificial Intelligence Lab, Stanford University

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Abstract

This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Urban Challenge, a robot competition organized by the U.S. Government.