TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China
Junqiao Zhao, Chen Ye, Yan Wu, Linting Guan, Lewen Cai, Lu Sun, Tao, Yang, Xudong He, Jun Li, Yongchao Ding, Xinglian Zhang, Xinchen Wang, Jinlin, Huang, Enwei Zhang, Yewei Huang, Wei Jiang, Shaoming Zhang, Lu Xiong,, Tiantian Feng
TL;DR
TiEV is an autonomous electric vehicle platform developed by Tongji University, capable of urban and express road driving, with novel perception and planning modules, demonstrated successfully in Chinese competitions.
Contribution
The paper introduces a comprehensive autonomous driving system with novel perception fusion and planning modules, and shares experiences from competitions in China.
Findings
Successful autonomous driving in urban and express roads
First and second planning modules demonstrated effectiveness
System participated in and won Chinese autonomous vehicle challenges
Abstract
TiEV is an autonomous driving platform implemented by Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity. We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously in urban paths as well as on fast express roads. We describe our whole system, especially novel modules of probabilistic perception fusion, incremental mapping, the 1st and the 2nd planning and the overall safety concern. TiEV finished 2016 and 2017 Intelligent Vehicle Future Challenge of China held at Changshu. We show our experiences on the development of autonomous vehicles and future trends.
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Taxonomy
TopicsAutonomous Vehicle Technology and Safety · Robotic Path Planning Algorithms · Advanced Neural Network Applications