Cycle ProjectsCycle Projects

Urban Challenge

(Click photo above to visit the project website)

Urban Challenge

Boss is an autonomous 2007 Chevrolet Tahoe that uses on-board sensors (GPS, lasers, radars, and cameras) to track other vehicles, detect static obstacles and localize itself relative to a road model. A three layer planning system combines mission, behavioral and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes, precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress towards local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a cyclic system development process with a heavy emphasis on regular, regressive system testing. During the national qualification event and the urban challenge final event Boss demonstrated some of its capabilities, qualifying first and winning the 85km DARPA 85 Urban Challenge.

To learn more, visit the project webpage