System design of self-driving in simplified urban environments

System design is of great importance for intelligent vehicle which is aimed at driving in diverse senarios under specific hardware and software configuration. The entry of Beijing Institute of Technology in the 2011 Intelligent Vehicle Future Challenge (11'FC) - BIT-III is presented. The open design of BIT-III's autonomous driving system reflects in two aspects. Safety and stability in driving are guaranteed even when driving in unknown and complex environment by embedding them in the deliberately designed local motion planner. Environmental sensing components are virtualized and fused according to their output mode, which realizes the modularization of the system and considerably simplifies the extension of system functions. The performance of BIT-III in the 11'FC implied that the system is able to drive autonomously in simplified urban environments and is ready to extend functions for more complicated scenarios.