Making Bertha Cooperate–Team AnnieWAY’s Entry to the 2016 Grand Cooperative Driving Challenge

This paper presents the concepts and methods utilized by Team AnnieWAY for the 2016 Grand Cooperative Driving Challenge. The paper introduces the automated vehicle "BerthaOne". The vehicle, even though being based on the Bertha platform, distinguishes itself from its siblings by its software modules and algorithms. The authors, therefore, describe its system architecture and algorithms for perception, cooperation and motion planning. In Particular, they present a motion planner that plans different maneuvers flexibly by augmenting the cost function with situation specific cost terms. The authors subsequently describe the requirements of the 2016 GCDC and evaluate their performance during the competition.

• Record URL:
  https://doi.org/10.1109/TITS.2017.2749974
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2018, IEEE.
• Authors:
  • Tas, Omer Sahin
  • Salscheider, Niels Ole
  • Poggenhans, Fabian
  • Wirges, Sascha
  • Bandera, Claudio
  • Zofka, Marc René
  • Strauss, Tobias
  • Zollner, J Marius
  • Stiller, Christoph
• Publication Date: 2018-4

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References;
• Pagination: pp 1262-1276
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 19
  • Issue Number: 4
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Algorithms; Automated vehicle control; In vehicle sensors; Intelligent vehicles; Laser radar; Mobile communication systems; System architecture; Vehicle to infrastructure communications; Vehicle to vehicle communications
• Uncontrolled Terms: Cooperative systems
• Subject Areas: Data and Information Technology; History; Planning and Forecasting; Vehicles and Equipment;

Filing Info

• Accession Number: 01671070
• Record Type: Publication
• Files: TLIB, TRIS
• Created Date: May 29 2018 5:18PM