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Team AnnieWAY’s Autonomous System

  • Christoph Stiller
  • Sören Kammel
  • Benjamin Pitzer
  • Julius Ziegler
  • Moritz Werling
  • Tobias Gindele
  • Daniel Jagszent
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4931)

Abstract

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the DARPA Urban Challenge 2007 competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. A recent laser scanner plays the prominent role in the perception of the environment. It measures range and reflectivity for each pixel. While the former is used to provide 3D scene geometry, the latter allows robust lane marker detection. Mission and maneuver selection is conducted via a concurrent hierarchical state machine that specifically ascertains behavior in accordance with California traffic rules. We conclude with a report of the results achieved during the competition.

Keywords

Autonomous Vehicle Stereo Camera Controller Area Network Electronic Control Unit Lane Marker 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Christoph Stiller
    • 1
  • Sören Kammel
    • 1
  • Benjamin Pitzer
    • 1
  • Julius Ziegler
    • 1
  • Moritz Werling
    • 2
  • Tobias Gindele
    • 3
  • Daniel Jagszent
    • 3
  1. 1.Institut für Mess- und Regelungstechnik 
  2. 2.Institut für Angewandte Informatik/Automatisierungstechnik 
  3. 3.Institut für Technische InformatikUniversität Karlsruhe (TH)KarlsruheGermany

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