Making Bertha Cooperate–Team AnnieWAY’s Entry to the 2016 Grand Cooperative Driving Challenge
Ömer Şahin Taş, Niels Ole Salscheider, Fabian Poggenhans, Sascha Wirges, Claudio Bandera, Marc René Zofka, Tobias Strauß, J. Marius Zöllner, Christoph Stiller · IEEE Transactions on Intelligent Transportation Systems · 2017
This paper presents the concepts and methods utilized by Team AnnieWAY for the 2016 Grand Cooperative Driving Challenge. The paper introduces the automated vehicle BerthaOne. The vehicle, even though being based on the Bertha platform, distinguishes itself from its siblings by its software modules and algorithms. We, therefore, describe its system architecture and algorithms for perception, cooperation and motion planning. In Particular, we present a motion planner that plans different maneuvers flexibly by augmenting the cost function with situation specific cost terms. We subsequently describe the requirements of the 2016 GCDC and evaluate our performance during the competition.