Autonomous Vehicle Guidance on Braunschweig's inner ring road within the Stadtpilot Project

Abstract

With the "Stadtpilot"-Project the Technische Universität Braunschweig transfers the knowledge gained from its participation in the DARPA Urban Challenge Event to the real urban environment of Braunschweig's inner ring road. The goal is to drive fully autonomously in the traffic flow and to behave according to traffic rules. On October 8 th , 2010, the first "Stadtpilot"-vehicle called "Leonie" has shown its abilities to the public while driving fully autonomously on a selected part in the northeast of the ring road.This paper introduces the vehicle guidance system of "Leonie" that has proven its functionality on several hundred kilometers in real urban traffic by the end of 2010. The overall system functionality is shown as well as several driving situations that can be handled fully autonomously. In addition, the limitations of the current system are also discussed.

Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving

“…Automatic guidance of a vehicle was demonstrated in [257] for the Stadpilot project. This work can be seen as an update of the results of the Urban Challenge [249].…”

Communication and Communication Problems Between Autonomous Vehicles and Human Drivers

“…Since autonomous vehicles have so far primarily been investigated in view of technical performance, as in the Urban Challenge [1] or the Bertha Benz drive [2], and an emergency driver has always been present in mixed traffic to intervene if necessary (e.g. at the Stadtpilot [3]), there is scarcely any original literature on the questions described above. For that reason, much will be extrapolated from the findings of other research fields.…”

Mobile sensor platforms: categorisation and research applications in precision farming

“…In the automotive sector projects with autonomous cars are quite advanced (e.g. "Google Car" -Google Inc. & Stanford University, CA, USA or "Leonie" -Volkswagen & Technical University of Braunschweig, Germany) (Moore and Lu, 2011;Saust et al, 2011). Within the Carolo-Cup event, German student groups are requested to develop the best possible guidance for an autonomous vehicle in different scenarios like obstacle avoidance (Maurer, 2013).…”