Autonomous Driving in Traffic: Boss and the Urban Challenge

Urmson, Chris; Baker, Christopher; Dolan, John M.; Rybski, Paul E.; Salesky, Bryan; Whittaker, William; Ferguson, Dave; Darms, Michael

doi:10.1609/aimag.v30i2.2238

Cited by 100 publications

(57 citation statements)

References 12 publications

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“…Recent years have witnessed major advances in designing and building autonomous vehicles to realize safer and more fuel efficient future cars [5,31,18]. Past work in this domain [14,8,17], including the DARPA Urban Challenge and the Google autonomous car, focuses on issues related to perception, efficient path planning, obstacle detection, etc.…”

Section: Related Workmentioning

confidence: 99%

“…To obtain this information, autonomous vehicles and robots are typically equipped with ranging sensors, which deliver realtime measurements of the distance of the vehicle to the surrounding 3D objects. The vehicle may use laser scanners, ultrasonic range finders for outdoor settings and Kinect for indoor settings [31,5,18,10]. Other sensors like cameras and light detectors are also used for additional information.…”

Section: Primer On Autonomous Vehiclesmentioning

confidence: 99%

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CarSpeak

Kumar

Shi

Ahmed

et al. 2012

SIGCOMM Comput. Commun. Rev.

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This paper introduces CarSpeak, a communication system for autonomous driving. CarSpeak enables a car to query and access sensory information captured by other cars in a manner similar to how it accesses information from its local sensors. CarSpeak adopts a content-centric approach where information objects -- i.e., regions along the road -- are first class citizens. It names and accesses road regions using a multi-resolution system, which allows it to scale the amount of transmitted data with the available bandwidth. CarSpeak also changes the MAC protocol so that, instead of having nodes contend for the medium, contention is between road regions, and the medium share assigned to any region depends on the number of cars interested in that region. CarSpeak is implemented in a state-of-the-art autonomous driving system and tested on indoor and outdoor hardware testbeds including an autonomous golf car and 10 iRobot Create robots. In comparison with a baseline that directly uses 802.11, CarSpeak reduces the time for navigating around obstacles by 2.4x, and reduces the probability of a collision due to limited visibility by 14x.

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Section: Related Workmentioning

confidence: 99%

Section: Primer On Autonomous Vehiclesmentioning

confidence: 99%

CarSpeak

Kumar

Shi

Ahmed

et al. 2012

SIGCOMM Comput. Commun. Rev.

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show abstract

“…These characteristics have made dataflow architectures popular in multimedia technologies [13,24] and the emerging field of computational photography [2,27]. Dataflow architectures are also prevalent in the sensor-processing components in prototypes of advanced automotive systems, for both driver-assisted and autonomous driving (e.g., [20,25,26]). While many domains with dataflow architectures have timing requirements, the automotive case is set apart since timing violations may result in loss of life or property.…”

Section: Introductionmentioning

confidence: 99%

“…Such constraints are largely ignored in many existing prototypes of advanced automotive sys-tems, which typically rely on over-provisioning and dedicated hardware to support real-time dataflow computations [20,25,26]. If advanced automotive features are to be commercially viable, then such computations must instead be consolidated onto as few low-cost processors as possible.…”

Section: Introductionmentioning

confidence: 99%

Minimizing response times of automotive dataflows on multicore

Elliott

AKim

Erickson

et al. 2014

2014 IEEE 20th International Conference on Embedded and Real-Time Computing Systems and Applications

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Dataflow software architectures are prevalent in prototypes of advanced automotive systems, for both driver-assisted and autonomous driving. Safety constraints of these systems necessitate real-time performance guarantees. Automotive prototypes often ensure such constraints through overprovisioning and dedicated hardware; however, a commercially viable system must utilize as few low-cost multicore processors as possible to meet size, weight, and power constraints. In short, these platforms must do more with less. To this end, we develop cache-aware and overhead-cognizant scheduling techniques that lessen guaranteed response times without unnecessarily constraining platform utilization. We implement these techniques in PGM RT , a portable middleware framework for managing real-time dataflow applications on multicore platforms. The efficacy of our techniques is demonstrated through overhead-aware schedulability experiments and runtime observations. Results for our test platform show that cache-aware clustered scheduling outperforms naïve partitioned and global approaches in terms of schedulability and end-to-end response times of dataflows.

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“…With the development of individual technology and integrated systems, the test and assessment methods of autonomous ground vehicles were developed from a single test to a complex capability test. Urmson et al described the tests for evaluating and comparing navigational skills of autonomous ground vehicles [5]. The tests include blind path tracking test, perception assisted path tracking test, and perception planning test.…”

Section: Introductionmentioning

confidence: 99%

Test and Evaluation of Autonomous Ground Vehicles

Sun

Xiong

Song

et al. 2014

Advances in Mechanical Engineering

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A preestablished test and evaluation system will benefit the development of autonomous ground vehicles. This paper proposes a design method for a scientific and comprehensive test and evaluation system for autonomous ground vehicles competitions. It can better guide and regulate the development of China's autonomous ground vehicles. The test and evaluation system includes the test contents, the test environment, the test methods, and the evaluation methods. Using a hierarchical design approach, the test content is designed to be stage by stage, moving from simplicity to complexity and from individual modules to the entire vehicle. The hierarchical test environment is established according to the levels of test content. The test method based on multilevel platforms and sensors is put forward to ensure the accuracy of test results. A fuzzy comprehensive evaluation method combined with analytic hierarchy process (AHP) is used for the comprehensive evaluation which can quantitatively evaluate the individual module and the overall technical performance of autonomous ground vehicles. The proposed test and evaluation system has been successfully applied to real autonomous ground vehicle competitions.

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Autonomous Driving in Traffic: Boss and the Urban Challenge

Cited by 100 publications

References 12 publications

CarSpeak

CarSpeak

Minimizing response times of automotive dataflows on multicore

Test and Evaluation of Autonomous Ground Vehicles

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