This paper presents the TerraMax autonomous vehicle, which competed in the DARPA Urban Challenge 2007. The sensing system is mainly based on passive sensors, in particular four vision subsystems are used to cover a 360° area around the vehicle, and to cope with the problems related to complex traffic scenes navigation. A trinocular system derived from the one used during the 2005 Grand Challenge performs obstacle and lane detection, twin stereo systems (one in the front and one in the back) monitor the area close to the truck, two lateral cameras detect oncoming vehicles at intersections, and a rear view system monitors the lanes next to the truck looking for overtaking vehicles. Data fusion between laserscanners and vision will be discussed, focusing on the benefits of this approach.
The passive sensing suite of the TerraMax autonomous vehicle
2008 IEEE Intelligent Vehicles Symposium ; 769-774
2008-06-01
1224682 byte
Conference paper
Electronic Resource
English
The TerraMax Autonomous Vehicle
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