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Autonomous Driving

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Handbook of Driver Assistance Systems

Abstract

In this chapter, a survey of the current state of research on autonomous driving is given and is set in the context of the requirements of an autonomous vehicle following the vision of an automated taxi. The overview is based on (scientific) publications and self-reports of the developing teams. Aspects of interest for this summary are approaches on environmental perception, self-perception, mission accomplishment, localization, cooperation, map usage, and functional safety.

Typically, emphasis is given to reliance on global satellite systems (e.g., GPS) and map data. Only a few approaches focus on environmental perception and scene understanding. Even though impressive demonstrations of autonomous driving have been presented in recent decades, this overview concludes that many aspects still remain only partially solved or even unsolved, especially when driving autonomously in public road traffic.

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Authors and Affiliations

  1. Institut für Regelungstechnik, Technische Universität Braunschweig, Hans-Sommer-Str. 66, 38106, Braunschweig, Germany

    Richard Matthaei, Andreas Reschka, Jens Rieken, Frank Dierkes, Simon Ulbrich & Markus Maurer

  2. Daimler and Benz Foundation, Ladenburg, Germany

    Thomas Winkle

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  1. Richard Matthaei
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  2. Andreas Reschka
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  3. Jens Rieken
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  4. Frank Dierkes
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  5. Simon Ulbrich
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  6. Thomas Winkle
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  7. Markus Maurer
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Corresponding author

Correspondence to Richard Matthaei .

Editor information

Editors and Affiliations

  1. Institute of Automotive Engineering, Technische Universität Darmstadt, Darmstadt, Germany

    Hermann Winner

  2. Continental Engineering Services GmbH, Frankfurt am Main, Germany

    Stephan Hakuli

  3. Continental AG, Frankfurt am Main, Germany

    Felix Lotz

  4. Institute of Automotive Engineering, Technische Universität Darmstadt, Darmstadt, Germany

    Christina Singer

Appendix: Questionnaire on “Autonomous Vehicles”

Appendix: Questionnaire on “Autonomous Vehicles”

1.1 Project Organization and Objective

This section addresses general and organizational aspects of your project.

  1. 1.

    What is the name of the project?

  2. 2.

    With which universities and/or industrial partners do you cooperate in this project?

  3. 3.

    When was the project started/how long have you been working on the project now?

  4. 4.

    What is the objective of the project?

  5. 5.

    What are the assumptions, constraints, and restrictions in the project?

  6. 6.

    Was the system demonstrated on public roads? If so, which capabilities were publicly demonstrated in which domains?

1.2 Perception

This section addresses the perception and localization of your system as well as its environment representation.

  1. 1.

    Please describe briefly the perception architecture of the system.

  2. 2.

    What sensor technologies (and which devices) are used?

  3. 3.

    How are dynamic objects perceived and represented by the system? What kind of dynamic objects are perceived?

  4. 4.

    How are static objects and road boundaries perceived and represented by the system?

  5. 5.

    Is the system capable of perceiving the state of traffic lights? How is this done?

  6. 6.

    What kind of traffic signs are perceived by the system?

  7. 7.

    Does your system perceive pedestrians and cyclists? If so, under which conditions and by the use of which sensors and algorithms?

  8. 8.

    How are lanes perceived? Which conditions must be fulfilled by a lane?

  9. 9.

    What are the requirements for perceiving lateral traffic at intersections? Does the system identify the right of way?

  10. 10.

    Is the system capable of determining the topology of intersections from perceived data? How is this done?

  11. 11.

    Which intentions of other road users can be perceived by the system? Which conditions must be fulfilled therefore?

  12. 12.

    How are the overall and the current capabilities of the system represented and monitored? How do the current capabilities determine the behavior of the system?

  13. 13.

    How is the relative position of the vehicle with respect to the lane perceived? Which conditions (e.g., lane markings, geometric models) must be fulfilled therefore?

  14. 14.

    Is information from digital maps used? How accurate are these maps?

  15. 15.

    Is the localization in digital maps solely based on satellite-based positioning or are other sensors used additionally? If so, which additional sensors and algorithms are used for localization?

  16. 16.

    Is the system capable of communicating with other road users or the road infrastructure (i.e., Car2x technologies)?

  17. 17.

    Are perceived features (e.g., objects, lanes, road boundaries) combined into a generic environment model? If so, please give a brief description of this model.

1.3 Function

This section addresses functions and maneuvers implemented in your test vehicle.

  1. 1.

    Is the system capable of autonomously executing lane-change maneuvers without any support of the driver? How is this maneuver implemented? In which domains (highway, rural roads, and urban environment) can it be executed?

  2. 2.

    How does the system react to the state of traffic lights?

  3. 3.

    What kind of turn maneuvers are implemented? Is the system capable of executing a turning maneuver into moving traffic?

  4. 4.

    How does the system deal with intersections without traffic lights?

  5. 5.

    Is the system capable of merging into traffic on rural roads and/or highways? How is this maneuver implemented?

  6. 6.

    What kind of emergency situations are considered by the system (e.g., emergency braking of the vehicle in front, pedestrian crossing the street)? How does the system react to these situations?

  7. 7.

    What concepts are implemented for keeping the vehicle in the current lane?

  8. 8.

    Are there any implicit and/or explicit mechanisms for cooperating with other road users?

  9. 9.

    How is the mission planning implemented? Is it done online or is the mission plan precomputed?

  10. 10.

    How does the system react to interventions of the driver?

  11. 11.

    Are there any further, not yet addressed, capabilities or maneuvers implemented?

  12. 12.

    Is the system capable of traversing from one domain to another (e.g., exiting the highway onto an urban street)? Which transitions are possible?

1.4 Safety Concept

  1. 1.

    Please describe briefly the safety concept for driving on public roads.

  2. 2.

    How do you verify that the functions discussed above work as expected? What is the test procedure?

  3. 3.

    How does the system react to the loss of one or more components or capabilities? What is the degradation concept?

1.5 System Architecture

Please describe the architecture of the system (functional, hardware, software) and the main design criteria.

1.6 Something Is Missing?

If there are any further system characteristics or features worth mentioning, please note them here.

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© 2016 Springer International Publishing Switzerland

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Cite this entry

Matthaei, R. et al. (2016). Autonomous Driving. In: Winner, H., Hakuli, S., Lotz, F., Singer, C. (eds) Handbook of Driver Assistance Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-12352-3_61

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