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This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle(More)
— In order to achieve autonomous operation of a vehicle in urban situations with unpredictable traffic, several realtime systems must interoperate, including environment perception, localization, planning, and control. In addition, a robust vehicle platform with appropriate sensors, computational hardware, networking, and software infrastructure is(More)
In this article, a general probabilistic approach to multisensorial environmental perception of advanced driver assistance systems (ADAS) is presented. This approach incorporates sensor data fusion with self-diagnosis capability and maneuver level intent estimation of detected objects. Thus, the quality of environmental perception is continuously monitored(More)
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