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Based on our experience in the DARPA Urban Challenge and on current trends in consumer automobiles, we believe that driver assistance systems can be significantly improved by new techniques in control and sensing that have been developed for fully-autonomous driving. In particular, from the control community, real-time Model Predictive Control (MPC) can be(More)
After the three DARPA Grand Challenge contests many groups around the world have continued to actively research and work toward an autonomous vehicle capable of accomplishing a mission in a given context (e.g. desert, city) while following a set of prescribed rules, but none has been completely successful in uncontrolled environments, a task that many(More)
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