Bienemann, Alexander (Universität der Bundeswehr München), Reich, Andreas (University of the Bundeswehr Munich), Luettel, Thorsten (Universität der Bundeswehr München), Maehlisch, Mirko (University of German Military Forces Munich)

Perception-Based Accurate Autonomous Vehicle Following in GNSS-Denied Environments

Scheduled for presentation during the Regular Session "Autonomous driving" (FrBT3), Friday, September 27, 2024, 14:10−14:30, Salon 6

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on October 8, 2024

Abstract

In this paper, we propose a full-stack system for perception-based accurate autonomous vehicle following that does not rely on vehicle-to-vehicle communication, map data, or accurate global localization. Our system consists of simple components for localization, object tracking, behaviour and waypoint management, trajectory planning, and control. We assessed the system's performance through different practical experiments using a real autonomous car. The experiments were conducted in various scenarios, including driving on- and off-road with speeds of up to 20 m/s and in the presence of dynamic obstacles.