A robust algorithm for handling moving traffic in urban scenarios

This paper describes an algorithm for handling moving traffic which was deployed on AnnieWAY, an autonomous vehicle successfully entering the finals of the DARPA Urban Challenge 2007 competition. The algorithm allows for a robust and effective collision check for a variety of maneuvers including turning at intersections with oncoming traffic, merging into moving traffic, changing lanes, as well as dynamic passing and can easily be integrated into a high-level decision process, such as a state machine.