Overall Reviews of Autonomous Vehicle A1 - System Architecture and Algorithms

Abstract

This paper describes an autonomous vehicle A1 that won the Hyundai Motor Group 2012 Autonomous Vehicle Competition. The A1 was developed for autonomous on-road and off-road driving conditions without driver intervention. The autonomous driving system consists of four parts that are localization, perception, planning, and control. Localization which estimates the ego-vehicle position on the map should be first performed to autonomously drive the A1. A perception algorithm detects and recognizes the objects around the ego-vehicle are also important to prevent collisions with obstacles and road departure. A planning algorithm generates the drivable motion of the A1 based upon previous information from the localization and perception system. Subsequently, a vehicle control algorithm calculates the desired steering, acceleration and braking control commands based on the information from the planning algorithm. This paper also presents the entire system architecture that the A1 used to accomplish all the required missions in the 2012 Autonomous Vehicle Competition.