Chapter

The DARPA Urban Challenge

Volume 56 of the series Springer Tracts in Advanced Robotics pp 441-508

Caroline: An Autonomously Driving Vehicle for Urban Environments

  • Fred W. RauskolbAffiliated withHerzfeld & Rubin, P.C.
  • , Kai BergerAffiliated withInstitute of Computer Graphics
  • , Christian LipskiAffiliated withInstitute of Computer Graphics
  • , Marcus MagnorAffiliated withInstitute of Computer Graphics
  • , Karsten CornelsenAffiliated withInstitute of Control Engineering
  • , Jan EffertzAffiliated withInstitute of Control Engineering
  • , Thomas FormAffiliated withInstitute of Control Engineering
  • , Fabian GraefeAffiliated withInstitute of Control Engineering
  • , Sebastian OhlAffiliated withInstitute of Control Engineering
    • , Walter SchumacherAffiliated withInstitute of Control Engineering
    • , Jörn-Marten WilleAffiliated withInstitute of Control Engineering
    • , Peter HeckerAffiliated withInstitute of Flight Guidance
    • , Tobias NothdurftAffiliated withInstitute of Flight Guidance
    • , Michael DoeringAffiliated withInstitute of Operating Systems and Computer Networks
    • , Kai HomeierAffiliated withInstitute of Operating Systems and Computer Networks
    • , Johannes MorgenrothAffiliated withInstitute of Operating Systems and Computer Networks
    • , Lars WolfAffiliated withInstitute of Operating Systems and Computer Networks
    • , Christian BasarkeAffiliated withInstitute of Software Systems Engineering
    • , Christian BergerAffiliated withInstitute of Software Systems Engineering
    • , Tim GülkeAffiliated withInstitute of Software Systems Engineering
    • , Felix KloseAffiliated withInstitute of Software Systems Engineering
    • , Bernhard RumpeAffiliated withInstitute of Software Systems Engineering

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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 competitors. After several stages of qualification, our team CarOLO qualified early for the DARPA Urban Challenge Final Event and was among only eleven 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 organisational, financial and technical support by local sponsors who helped us to become the best non-US 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.