This paper presents the concepts and methods utilized by Team AnnieWAY for the 2016 Grand Cooperative Driving Challenge. The paper introduces the automated vehicle BerthaOne. The vehicle, even though being based on the Bertha platform, distinguishes itself from its siblings by its software modules and algorithms. We, therefore, describe its system architecture and algorithms for perception, cooperation and motion planning. In Particular, we present a motion planner that plans different maneuvers flexibly by augmenting the cost function with situation specific cost terms. We subsequently describe the requirements of the 2016 GCDC and evaluate our performance during the competition.


    Access

    Download


    Export, share and cite



    Title :

    Making Bertha Cooperate–Team AnnieWAY’s Entry to the 2016 Grand Cooperative Driving Challenge




    Publication date :

    2018-04-01


    Size :

    5384289 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016

    Aramrattana, Maytheewat / Detournay, Jerome / Englund, Cristofer et al. | IEEE | 2018

    Free access

    Team AnnieWAY's Entry to the 2011 Grand Cooperative Driving Challenge

    Geiger, Andreas / Lauer, Martin / Moosmann, Frank et al. | IEEE | 2012


    Cooperative automated maneuvering at the 2016 Grand Cooperative Driving Challenge

    Ploeg, J. / Semsar-Kazerooni, E. / Morales Medina, A.I. et al. | BASE | 2018

    Free access

    Cooperative Automated Maneuvering at the 2016 Grand Cooperative Driving Challenge

    Ploeg, Jeroen / Semsar-Kazerooni, Elham / Morales Medina, Alejandro I. et al. | IEEE | 2018