Journal
PROCEEDINGS OF THE IEEE
Volume 95, Issue 2, Pages 397-412Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JPROC.2006.888394
Keywords
autonomous systems; autonomous vehicles; cars; intelligent vehicles; safety; sensor fusion
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In this paper, we review technologies for autonomous ground vehicles and their present capabilities in research and in the automotive market. We outline technology requirements for enhanced functions and for infrastructure development. Since the recent Grand Challenge competition is a major force to advance technology in this field, we specifically refer to our experiences in developing a participating vehicle. We present a multisensor platform that has been proven in an off-road environment. It combines different sensing modalities that inherently yield uncertain information. Finite-state machines are formulated to generate rule-based autonomous behavior that enables fully autonomous off-road driving. Overall, the intent of the paper is to evaluate approaches and technologies used in the two Grand Challenges as they contribute to the needs of autonomous cars on the road.
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