System design of self-driving in simplified urban environments

Yan Jiang; Xijun Zhao; Jianwei Gong; Guangming Xiong; Huiyan Chen

doi:10.3901/JME.2012.20.103

System design of self-driving in simplified urban environments

Yan Jiang, Xijun Zhao, Jianwei Gong^*, Guangming Xiong, Huiyan Chen

^*Corresponding author for this work

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

22 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	103-112
Number of pages	10
Journal	Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering
Volume	48
Issue number	20
DOIs	https://doi.org/10.3901/JME.2012.20.103
Publication status	Published - 20 Oct 2012

Keywords

Autonomous driving
Environmental fusion
Local motion planning
System design

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10.3901/JME.2012.20.103

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AU - Jiang, Yan

AU - Zhao, Xijun

AU - Gong, Jianwei

AU - Xiong, Guangming

AU - Chen, Huiyan

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AB - 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.

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System design of self-driving in simplified urban environments

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Keywords

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