6 6 2 3 5 3 3 6 3 4 5 6 2 2 5 4 3 1 6 3 3 5 1 2 3 4 5 6

Steering Committee Thomas Form Peter Hecker Marcus Magnor Bernhard Rumpe Walter Schumacher Lars Wolf Fred Rauskolb (Formal Team Leader) QA/Simulation Christian Berger Christian Basarke Tim Gülke Bernhard Rumpe (Project Leader) Christian Berger (Team Leader) Thomas Form (Technical Project Leader) Marketing/PR Joop Flack Hendrik Stöcker Manuel Juhrs Perception&Sensors Jan Effertz Fabian Graefe Sebastian Ohl Christian Lipski Wojciech Derendarz Kai Berger Felix Klose Reasoning&Planning Kai Homeier Tobias Nothdurft Christian Basarke Sebastian Ohl Andreas Donners Andre Steinert Vehicle Control/ Hardware Jörn Marten Wille Karsten Cornelsen Michael Doering Johannes Morgenroth

CAN Ethernet CAN ECU ECU Front Data Acquisition Object Data front Tracking + Data Fusion rear Object Data Rear Data Acquisition ECU ECU Drivability, Height Profile Classification Stereo Preprocessing Grid Fusion Color Analysis Surface Data, Classification Surface Data Laserscanner Front Laserscanner Rear Radar Front Radar Rear Lidar Front Lidar Rear Data Acquisition, Timestamping and Transformation Fusion Input Queue Sensor Sweeps Data Association Pretracking Extended Kalman Filter Track Managment Pretrack Database Pretrack ID 0 Pretrack ID 1 Pretrack ID 2... Pretrack ID 3 Track Initialization Track Database Track ID 0 Track ID 1 Track ID 2... Track ID 3

w i,j = a min[ x i k x j l, k, l]+b v i v j w i,j i j v i v j x i k xj l k th l th i j a b

Ω= x i 1 x j 1... x i 1 x j l......... x i k xj 1... x i k xj l x 6D = x 1...n y 1...n v a α ω x 1...n y 1...n

x 4D = x 1...n y 1...n v a y y = x 1...m y 1...m v x v y x 1 y 1 v x v y x y x x k (v +1 v) =f(x k (v)) P (v +1 v) =F T P F + Q s k,l = y l (v +1) h(x k (v +1 v)) S(v +1)=H P (v +1 v) H T + R K(v +1)=P (v +1 v) H T S(v +1) 1 r k,l (v +1)=K(v +1) s k,l (v +1) x k k f(x) P F Q s k,l k l y l l h(x) S H R K r k,l k l r k,l r k,l N r mean = 1 N k,l=1 r k,l

N r mean

a O(a)

sensor origin new values old values target point m c(a) =m c (A) m m (A) = 1 1 K B C=A m c (B)m m (C), m c m m m c A B C K = B C= m c (B)m m (C). K m m P d

D U N D max m m (D) = D max P d, m m (N) = (1 D max ), m m (U) = 1 m m (D) m m (N). + h x y m m (D) = m m (U) = D max, h x y G Dmax 0, G Dmax < h x y G Umin 0, h x y >G Umin 0, h x y G Dmax ( ) U max h G Umin G Dmax x y G Dmax, G Dmax < h x y G Umin U max, >G Umin m m (N) = 1 m m (D) m m (U), h x y

D max U max G Dmax G Umin

f ego : p car p world p world p car I tele > I middle > I left > I right v diff v diff = v max v min b high b low b low b diff b high

b high l i w i d i = α i α i 1 s i c 0 d i p i α i l i f ego : p car p world l p

t con,t hist,t dir q a {0, 22.5,..., 157.5} c {white, yellow, undecided} t col v diff = v max v min v max v min v diff <t con b diff = b high b low b diff <t hist b high b low r max p high a max R b high p high i =0;i<= 157.5; i = i +22.5 p high R i r = Var(X) Var(Y ) r max <t dir q white = b diff q yellow = b diff a white = a max a yellow = a max q white >t col q white >q yellow c = white a = a white q yellow >t col q yellow >q white c = yellow a = a yellow q = max(q white,q yellow )

b low b high b high

s 0 s f s f s i α i s i outer lef t lef t right outer right s f s i α i w i p x p y p i s i d i g i = m i /l i w i g i w i n s i q outer left left right outer right t q s i+1

s i α i p i α i l i l gap s i

+

P Scanner

0 1 1 1 min(r,g) B 1

t t +1 x p(x, y) y max P boundary P bumper

P bumper P bumper pixelsum weightedp ixelsumx weightedp ixelsumy pixelsum x weightedp ixelsumx y weightedp ixelsumy P bumper P bumper x moment = weightedp ixelsumx pixelsum y moment = weightedp ixelsumy pixelsum x x moment y moment P bumper y x moment y moment P bumper P bumper P bumper P boundary P bumper x moment y moment x moment =0 y moment =0 x moment =0 P bumper y moment P bumper P boundary x moment 1 1

-0.1 obstacle startpoint 0 curvatures obstacle +0.1 vote

Planned Trajectory Points Queue Interrupt Intersection Interrupt v STOP s

a) d) b) c) M M α A n M ṅ M M M (α A,n M, ṅ M )= r η k i k (f R mg+ c w A ρ 2 (n M 2 πr 0 i k ) 2 + λmṅm 2 πr 0 i k ) T =0.6s P (s) = 1 s (T s+1)

R 0 r η k i k f R m g c w A ρ λ K(s) K(s) Upper Controller Throttle adesired K(s) Lower Controller Throttle vdesired Caroline Dynamics a v K(s) Upper Controller Brake adesired K(s) Lower Controller Brake

Engine Map 250 200 Engine Torque in Nm 150 100 50 0 100 80 60 40 Throttle in percent 20 0 1000 2000 6000 5000 4000 3000 Engine Speed in RPM 7000 12 10 Actual Speed Desired speed Example 1 12 10 Actual Speed Desired speed Example 2 Speed v in m/s 8 6 4 Speed v in m/s 8 6 4 2 2 0 0 2 4 6 8 Time t in sec 0 0 1 2 3 4 5 Time t in sec

l l VA F xv V l HA SP v F yv F xh Fzent mv ( ) F yh (t) =A (t)+b (t)+e (t), (0) = 0 κ ζ desired v ζ desired = κ v ψ ψ rel ζ desired ψ rel = ψ ζ desired

ψ rel ψ rel = ψ κv β ψ rel d v d = v (β + ψ rel ) δ δ desired T L ψ β ψ rel d κ ψ β ψ rel d δ = a 11 a 12 0 0 a 15 a 21 a 22 0 0 a 25 1 0 0 0 0 0 v v 0 0 0 0 0 0 1 T L ψ β ψ rel d δ + 0 0 0 0 i L T L δ desired + 0 0 v 0 0 κ a 11 = c αv l 2 V + c αh l 2 H θv a 21 = 1 c αv l V c αh l H mv 2, a 12 = c αv l V + c αh l H, a 15 = c αv l V θ θ, a 22 = c αv + c αh, a 25 = c αv mv mv d (t) = ( 0 0 0 1 0 ) T (t) F c (s) = i L T L s +1 a25s 2 +(a 15 a 21 + a 15 a 25 a 11 ) s +(a 25 a 12 a 25 a 12 ) 1 s 2 (a 11 + a 22 )s +(a 11 a 22 a 12 a 21 ) s v s F noise = v s v s

c αv c αh l V l H θ m δ x y ψ K(s) Pilot Control Desired Trajectory d K(s) Track Error Position and Orientation K(s) Track Angle κ 0 20 v =50

200 Trajectory 190 180 Final Position 170 y Position in m 160 150 140 130 120 Starting Position 110 100 300 280 260 240 220 200 180 160 140 120 100 x Position in m

50 Speed Profile of the Track 0.5 Track Error 45 0.4 40 0.3 35 0.2 Speed in km/h 30 25 20 Track Error in m 0.1 0 0.1 15 0.2 10 0.3 5 0.4 0 0 5 10 15 20 25 30 Time in sec 0.5 0 5 10 15 20 25 30 Time in sec

Car PC Vehicle Controller Watchdog monitoring heartbeats sending autonomous mode demands CAN controller CANlog III monitoring communication monitoring actorics state generating vehicle state message vehicle information CAN powertrain CAN actorics steering braking throttle gear communication interface controlling emergency brake horn / warning beacon controlling horn, flashing beacon vehicle power vehicle starter emergency/parking brake controlling vehicle power, starter connect go disable

pc 1 slave daemon 1 process 1 pc n... slave daemon 2 process 1 watchdog pc slave daemon n wd master process 2 start kill heartbeat process 2 start kill heartbeat process 2 start kill heartbeat process n process n process n controller CAN heartbeat/reset/suspend TCP/IP relaisbox for power shutdown actorics CAN gateway

δt i > 0

+

Technische Universität Braunschweig Informatik-Berichte ab Nr. 2005-03 2005-03 T.-P. Fries, H. G. Matthies A Stabilized and Coupled Meshfree/Meshbased Method for the Incompressible Navier-Stokes Equations Part II: Coupling 2005-04 H. Krahn, B. Rumpe Evolution von Software-Architekturen 2005-05 O. Kayser-Herold, H. G. Matthies Least-Squares FEM, Literature Review 2005-06 T. Mücke, U. Goltz Single Run Coverage Criteria subsume EX-Weak Mutation Coverage 2005-07 T. Mücke, M. Huhn Minimizing Test Execution Time During Test Generation 2005-08 B. Florentz, M. Huhn A Metamodel for Architecture Evaluation 2006-01 T. Klein, B. Rumpe, B. Schätz (Herausgeber) Tagungsband des Dagstuhl-Workshop MBEES 2006: Modellbasierte Entwicklung eingebetteter Systeme 2006-02 T. Mücke, B. Florentz, C. Diefer Generating Interpreters from Elementary Syntax and Semantics Descriptions 2006-03 B. Gajanovic, B. Rumpe Isabelle/HOL-Umsetzung strombasierter Definitionen zur Verifikation von verteilten, asynchron kommunizierenden Systemen 2006-04 H. Grönniger, H. Krahn, B. Rumpe, M. Schindler, S. Völkel 2007-01 M. Conrad, H. Giese, B. Rumpe, B. Schätz (Hrsg.) Handbuch zu MontiCore 1.0 - Ein Framework zur Erstellung und Verarbeitung domänenspezifischer Sprachen Tagungsband Dagstuhl-Workshop MBEES: Modellbasierte Entwicklung eingebetteter Systeme III 2007-02 J. Rang Design of DIRK schemes for solving the Navier-Stokes-equations 2007-03 B. Bügling, M. Krosche Coupling the CTL and MATLAB 2007-04 C. Knieke, M. Huhn Executable Requirements Specification: An Extension for UML 2 Activity Diagrams 2008-01 T. Klein, B. Rumpe (Hrsg.) Workshop Modellbasierte Entwicklung von eingebetteten Fahrzeugfunktionen, Tagungsband 2008-02 H. Giese, M. Huhn, U. Nickel, B. Schätz (Hrsg.) 2008-03 R. van Glabbeek, U. Goltz, J.-W. Schicke 2008-04 M. V. Cengarle, H. Grönniger B. Rumpe 2008-05 M. V. Cengarle, H. Grönniger B. Rumpe 2008-06 M. Broy, M. V. Cengarle, H. Grönniger B. Rumpe 2008-07 C. Basarke, C. Berger, K. Berger, K. Cornelsen, M. Doering J. Effertz, T. Form, T. Gülke, F. Graefe, P. Hecker, K. Homeier F. Klose, C. Lipski, M. Magnor, J. Morgenroth, T. Nothdurft, S. Ohl, F. Rauskolb, B. Rumpe, W. Schumacher, J. Wille, L. Wolf Tagungsband des Dagstuhl-Workshop MBEES: Modellbasierte Entwicklung eingebetteter Systeme IV Symmetric and Asymmetric Asynchronous Interaction System Model Semantics of Statecharts System Model Semantics of Class Diagrams Modular Description of a Comprehensive Semantics Model for the UML (Version 2.0) 2007 DARPA Urban Challenge Team CarOLO - Technical Paper