Towards a Viable Autonomous Driving Research Platform

The authors present an autonomous driving research vehicle with minimal appearance modifications that is capable of a wide range of autonomous and intelligent behaviors, including smooth and comfortable trajectory generation and following; lane keeping and lane changing; intersection handling with or without vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V); and pedestrian, bicyclist, and workzone detection. Safety and reliability features include a fault-tolerant computing system; smooth and intuitive autonomous-manual switching; and the ability to fully disengage and power down the drive-by-wire and computing system upon E-stop. The vehicle has been tested extensively on both a closed test field and public roads.

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  • Supplemental Notes:
    • This document was sponsored by the U.S. Department of Transportation, University Transportation Centers Program.
  • Corporate Authors:

    Technologies for Safe and Efficient Transportation University Transportation Center

    Carnegie Mellon University
    Pittsburgh, PA  United States  15213

    Office of the Assistant Secretary for Research and Technology

    University Transportation Centers Program
    Department of Transportation
    Washington, DC  United States  20590
  • Authors:
    • Wei, Junqing
    • Snider, Jarrod M
    • Kim, Junsung
    • Dolan, John M
    • Rajkumar, Raj
    • Litkouhi, Bakhtiar
  • Publication Date: 2019


  • English

Media Info

  • Media Type: Digital/other
  • Edition: Final Research Report
  • Features: Figures; Photos; References; Tables;
  • Pagination: 10p

Subject/Index Terms

Filing Info

  • Accession Number: 01691026
  • Record Type: Publication
  • Contract Numbers: DTRT-13-GUTC-26
  • Created Date: Jan 22 2019 11:36AM