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— 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)
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms.(More)
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the DARPA Urban Challenge 2007 competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. A(More)
— This paper presents a method for reasoning about the safety of traffic situations. More precisely, the problem of safety assessment for partial trajectories for vehicles is addressed. Therefore, the Inevitable Collision States (ICS) as well as its probabilistic generalization the Probabilistic Collision States (PCS) are used. Thereby, the assessment is(More)