Autonomous Driving in Traffic: Boss and the Urban Challenge

Abstract

The DARPA Urban Challenge was a competition to develop autonomous vehicles capable of safely, reliably, and robustly driving in traffic. In this article we introduce Boss, the autonomous vehicle that won the challenge. Boss is a complex artificially intelligent software system embodied in a 2007 Chevy Tahoe. To navigate safely, the vehicle builds a model of the world around it in real time. This model is used to generate safe routes and motion plans both on roads and in unstructured zones. An essential part of Boss's success stems from its ability to safely handle both abnormal situations and system glitches.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2009
Accession Number
ADA522603

Entities

People

  • Bryan Salesky
  • Chris Baker
  • Chris Urmson
  • Dave Ferguson
  • John Dolan
  • Michael Darms
  • Paul Rybski
  • William Whittaker

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Air Force Facilities
  • Algorithms
  • Artificial Intelligence
  • Autonomous Systems
  • Autonomous Vehicles
  • Detection
  • Estimators
  • Global Positioning Systems
  • Ground Vehicles
  • Lidar
  • Motion Planning
  • Radar
  • Software Design
  • Trajectories
  • United States
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Economics
  • Electrical Engineering
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy