Experience, Results and Lessons Learned from Automated Driving on Germany's Highways

作者：Michael Aeberhard, Sebastian Rauch, Mohammad Bahram, Georg Tanzmeister, Julian Thomas, Yves Pilat, Florian Homm, Werner Huber, Nico Kaempchen · 发表于：IEEE Intelligent Transportation Systems Magazine · 年份：2015 · DOI：10.1109/mits.2014.2360306 · 被引用次数：248 · 研究领域：Autonomous Vehicle Technology and Safety、Vehicular Ad Hoc Networks (VANETs)、Robotic Path Planning Algorithms

The BMW Group Research and Technology has been testing automated vehicles on Germany's highways since Spring 2011. Since then, thousands of kilometers have been driven on the highways around Munich, Germany. Throughout this project, fundamental technologies, such as environment perception, localization, driving strategy and vehicle control, were developed in order to safely operate prototype automated vehicles in real traffic with speeds up to 130 km/h. The goal of this project was to learn what technologies are necessary for automated driving. This paper presents the architecture and algorithms developed during this project, results from real driving scenarios, the lessons learned throughout the project and a quick introduction into the latest developments for improving the system.