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1、Junior:TheStanfordEntryintheUrbanChallengeMichaelMontemerlo1,JanBecker4,SuhridBhat2,HendrikDahlkamp1,DmitriDolgov1,ScottEttinger3,DirkHaehnel1,TimHilden2,GabeHoffmann1,BurkhardHuhnke2,DougJohnston1,StefanKlumpp2,DirkLanger2,AnthonyLevandowski1,JesseLevinson1,JulienMarcil2,DavidOren
2、stein1,JohannesPaefgen1,IsaacPenny1,AnnaPetrovskaya1,MikePflueger2,GanymedStanek2,DavidStavens1,AntoneVogt1,andSebastianThrun11StanfordArtificialIntelligenceLab,StanfordUniversity,StanfordCS943052ElectronicsResearchLab,VolkswagenofAmerica,4009MirandaAv.,PaloAlto,CA943043IntelResearch
3、,2200MissionCollegeBlvd.,SantaClara,CA950524RobertBoschLLC,ResearchandTechnologyCenter,4009MirandaAve,PaloAlto,CA94304AbstractThisarticlepresentsthearchitectureofJunior,aroboticvehiclecapableofnavi-gatingurbanenvironmentsautonomously.Indoingso,thevehicleisabletoselectitsownroutes,p
4、erceiveandinteractwithothertraffic,andexecutevariousurbandrivingskillsincludinglanechanges,U-turns,parking,andmergingintomovingtraffic.ThevehiclesuccessfullyfinishedandwonsecondplaceintheDARPAUr-banChallenge,arobotcompetitionorganizedbytheU.S.Government.1IntroductionThevisionofself-dr
5、ivingcarspromisestobringfundamentalchangetooneofthemostessentialaspectsofourdailylives.IntheU.S.alone,trafficaccidentscausethelossofover40,000peopleannually,andasubstantialfractionoftheworld'senergyisusedforpersonalcar-basedtransporta-tion(U.S.DepartmentofTransportation,2005).Asafe,
6、self-drivingcarwouldfundamentallyim-provethesafetyandcomfortofthedrivingpopulation,whilereducingtheenvironmentalimpactoftheautomobile.In2003,theDefenseAdvancedResearchProjectsAgency(DARPA)initiatedaseriesofcompeti-tionsaimedattherapidtechnologicaladvancementofautonomousvehiclecontr
7、ol.Thefirstsuchevent,the“DARPAGrandChallenge,”ledtothedevelopmentofvehiclesthatcouldconfidentlyfollowadeserttrailataveragevelocitiesnearing20mph(Buehleretal.,2006).InOctober2005,Stanford'srobot“Stanley”wonthischallengeandbecamethefirstrobottofinishthe131-milelongcourse(Montemerloetal.,
8、2006).The“DARPAUrbanChalle
