# Towards Full Automated Drive in Urban Environments: A Demonstration in GoMentum Station, California

## TL;DR

This paper demonstrates a full automated driving system in urban environments, showcasing safe handling of complex scenarios over 110km with minimal driver intervention, highlighting progress and remaining challenges in urban autonomous driving.

## Contribution

The paper presents a complete architecture and real-world demonstration of urban autonomous driving, addressing perception and planning modules in complex city scenarios.

## Key findings

- Safe handling of traffic lights, pedestrians, and construction zones
- 110km of autonomous driving with only 3 driver interventions
- Consistent performance across multiple runs in urban conditions

## Abstract

Each year, millions of motor vehicle traffic accidents all over the world cause a large number of fatalities, injuries and significant material loss. Automated Driving (AD) has potential to drastically reduce such accidents. In this work, we focus on the technical challenges that arise from AD in urban environments. We present the overall architecture of an AD system and describe in detail the perception and planning modules. The AD system, built on a modified Acura RLX, was demonstrated in a course in GoMentum Station in California. We demonstrated autonomous handling of 4 scenarios: traffic lights, cross-traffic at intersections, construction zones and pedestrians. The AD vehicle displayed safe behavior and performed consistently in repeated demonstrations with slight variations in conditions. Overall, we completed 44 runs, encompassing 110km of automated driving with only 3 cases where the driver intervened the control of the vehicle, mostly due to error in GPS positioning. Our demonstration showed that robust and consistent behavior in urban scenarios is possible, yet more investigation is necessary for full scale roll-out on public roads.