Moritz Werling

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Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer. The(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 essential.
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 describes the hardware and software framework of AnnieWAY, an autonomous vehicle successfully competing at all qualification stages up to the finals of the <i>DARPA</i> <i>Urban</i> <i>Challenge</i> <i>2007</i> competition. Besides the hardware premises for by-wire steering, braking, throttle control and sensors, two frameworks for high-level(More)
The urban challenge 2007 is a research program conducted in a competitive format to address the challenging aspects of letting vehicles accomplish missions in urban scenarios fully autonomously. AnnieWAY is one out of eleven autonomous vehicles that entered the finals. As it turned out, one of the major difficulties is the combination of different(More)
This paper describes an algorithm for handling moving traffic which was deployed on AnnieWAY, an autonomous vehicle successfully entering the finals of the DARPA Urban Challenge 2007 competition. The algorithm allows for a robust and effective collision check for a variety of maneuvers including turning at intersections with oncoming traffic, merging into(More)
Safe handling of dynamic inner-city scenarios with autonomous road vehicles involves the problem of stabilization of precalculated state trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose two complementary nonlinear Lyapunov-based tracking-control laws to solve the problem for speeds between(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)