Autonomous Driving in Urban Environments: Approaches, Lessons, and Challenges
Date
2010Author
Campbell, M.
Egerstedt, Magnus
How, J. P.
Murray, R. M.
Metadata
Show full item recordAbstract
The development of autonomous vehicles for urban driving has seen rapid progress in
the past 30 years. This paper provides a summary of the current state of the art in
autonomous driving in urban environments, based primarily on the experiences of the
authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the
approaches that different teams used in the DUC, with the goal of describing some of
the challenges that the teams faced in driving in urban environments. The paper also
highlights the long-term research challenges that must be overcome in order to enable
autonomous driving and points to opportunities for new technologies to be applied in
improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic
vehicles operating in human environments.