Making Bertha Drive-An Autonomous Journey on a Historic Route

被引：617

作者：

Ziegler, Julius ^{[1
]}

Bender, Philipp ^{[1
]}

Schreiber, Markus ^{[1
]}

Lategahn, Henning ^{[2
]}

Strauss, Tobias ^{[2
]}

Stiller, Christoph ^{[2
]}

Dang, Thao ^{[3
]}

Franke, Uwe ^{[3
]}

Appenrodt, Nils ^{[3
]}

Keller, Christoph G. ^{[3
]}

Kaus, Eberhard ^{[3
]}

Herrtwich, Ralf G. ^{[3
]}

Rabe, Clemens ^{[3
]}

Pfeiffer, David ^{[3
]}

Lindner, Frank ^{[3
]}

Stein, Fridtjof ^{[3
]}

Erbs, Friedrich ^{[3
]}

Enzweiler, Markus ^{[3
]}

Knoeppel, Carsten ^{[3
]}

Hipp, Jochen ^{[3
]}

Haueis, Martin ^{[3
]}

Trepte, Maximilian ^{[3
]}

Brenk, Carsten ^{[3
]}

Tamke, Andreas ^{[3
]}

Ghanaat, Mohammad ^{[3
]}

Braun, Markus ^{[3
]}

Joos, Armin ^{[3
]}

Fritz, Hans ^{[3
]}

Mock, Horst ^{[3
]}

Hein, Martin ^{[3
]}

Zeeb, Eberhard ^{[3
]}

机构：

[1] FZI Res Ctr Informat Technol, D-76131 Karlsruhe, Germany

[2] Karlsruhe Inst Technol, Dept Measurement & Control Syst, D-76021 Karlsruhe, Germany

[3] Daimler AG, Res & Dev, D-71059 Sindelfingen, Germany

来源：

IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE | 2014年 / 6卷 / 02期

关键词：

STEREO; VISION;

D O I：

10.1109/MITS.2014.2306552

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

125 years after Bertha Benz completed the first overland journey in automotive history, the Mercedes Benz S-Class S 500 INTELLIGENT DRIVE followed the same route from Mannheim to Pforzheim, Germany, in fully autonomous manner. The autonomous vehicle was equipped with close-to-production sensor hardware and relied solely on vision and radar sensors in combination with accurate digital maps to obtain a comprehensive understanding of complex traffic situations. The historic Bertha Benz Memorial Route is particularly challenging for autonomous driving. The course taken by the autonomous vehicle had a length of 103 km and covered rural roads, 23 small villages and major cities (e.g. downtown Mannheim and Heidelberg). The route posed a large variety of difficult traffic scenarios including intersections with and without traffic lights, roundabouts, and narrow passages with oncoming traffic. This paper gives an overview of the autonomous vehicle and presents details on vision and radar-based perception, digital road maps and video-based self-localization, as well as motion planning in complex urban scenarios.

引用

页码：8 / 20

页数：13

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