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1、AutonomousDrivinginUrbanEnvironments:BossandtheUrbanChallenge•••••••••••••••••••••••••••••••ChrisUrmson,JoshuaAnhalt,DrewBagnell,ChristopherBaker,RobertBittner,M.N.Clark,JohnDolan,DaveDuggins,TugrulGalatali,ChrisGeyer,MicheleGittleman,SamHarbaugh,MartialHebert,ThomasM.Ho
2、ward,SaschaKolski,AlonzoKelly,MaximLikhachev,MattMcNaughton,NickMiller,KevinPeterson,BrianPilnick,RajRajkumar,PaulRybski,BryanSalesky,Young-WooSeo,SanjivSingh,JarrodSnider,AnthonyStentz,William“Red”Whittaker,ZivWolkowicki,andJasonZiglarCarnegieMellonUniversityPittsburgh,
3、Pennsylvania15213e-mail:curmson@ri.cmu.eduHongBae,ThomasBrown,DanielDemitrish,BakhtiarLitkouhi,JimNickolaou,VarshaSadekar,andWendeZhangGeneralMotorsResearchandDevelopmentWarren,Michigan48090JoshuaStrubleandMichaelTaylorCaterpillar,Inc.Peoria,Illinois61656MichaelDarmsCont
4、inentalAGAuburnHills,Michigan48326DaveFergusonIntelResearchPittsburgh,Pennsylvania15213Received22February2008;accepted19June2008JournalofFieldRobotics25(8),425–466(2008)C2008WileyPeriodicals,Inc.PublishedonlineinWileyInterScience(www.interscience.wiley.com).•DOI:10.1002
5、/rob.202555rjs.cn专注无人驾驶426•JournalofFieldRobotics2008Bossisanautonomousvehiclethatuseson-boardsensors(globalpositioningsystem,lasers,radars,andcameras)totrackothervehicles,detectstaticobstacles,andlocalizeitselfrelativetoaroadmodel.Athree-layerplanningsystemcombinesmissi
6、on,behav-ioral,andmotionplanningtodriveinurbanenvironments.Themissionplanninglayerconsiderswhichstreettotaketoachieveamissiongoal.Thebehaviorallayerdetermineswhentochangelanesandprecedenceatintersectionsandperformserrorrecoverymaneu-vers.Themotionplanninglayerselectsacti
7、onstoavoidobstacleswhilemakingprogresstowardlocalgoals.Thesystemwasdevelopedfromthegrounduptoaddresstherequire-mentsoftheDARPAUrbanChallengeusingaspiralsystemdevelopmentprocesswithaheavyemphasisonregular,regressivesystemtesting.DuringtheNationalQualifica-tionEventandthe85
8、-kmUrbanChallengeFinalEvent,Bossdemonstratedsomeofitscapabilities,qualifyingfirstandwinningthechallenge.
