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.

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    • 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


  • English

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