Making Bertha Drive-An Autonomous Journey on a Historic Route
Making Bertha Drive-An Autonomous Journey on a Historic Route
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DOI：
10.1109/mits.2014.2306552
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发表时间：
2014-06-01
影响因子：
3.6
通讯作者：
Zeeb, Eberhard
中科院分区：
文献类型：
--
作者：
Ziegler, Julius;Bender, Philipp;Zeeb, Eberhard
Bertha Benz完成了汽车历史上的第一次陆路之旅125年后，梅赛德斯·本兹S级S-Class S 500智能驾驶以完全自动的方式从曼尼海姆到德国普福尔茨的同一条路线。该自动驾驶汽车配备了近距离生产的传感器硬件，仅依靠视觉和雷达传感器以及准确的数字图，以获得对复杂交通情况的全面了解。历史悠久的Bertha Benz纪念路线对于自动驾驶特别具有挑战性。自动驾驶汽车所采用的路线为103公里，覆盖了乡村道路，23个小村庄和主要城市（例如曼海姆市中心和海德堡市中心）。该路线构成了各种困难的交通情况，包括带有和没有交通信号灯的交叉路口，回旋处和狭窄的通道，并迎来了交通。本文概述了自动驾驶汽车，并在复杂的城市场景中介绍了基于视觉和基于雷达的感知，数字路线图和基于视频的自我定位以及运动计划的详细信息。
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.