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We present an autonomous driving research vehicle with minimal appearance modifications that is capable of a wide range of autonomous and intelligent behaviors, including smooth and comfortable trajectory generation and following; lane keeping and lane changing; intersection handling with or without V2I and V2V; and pedestrian, bicyclist, and workzone detection. Safety and reliability features include a fault-tolerant computing system; smooth and intuitive autonomous-manual switching; and the ability to fully disengage and power down the drive-by-wire and computing system upon E-stop. The vehicle has been tested extensively on both a closed test field and public roads.
Wei et al. (2013) studied this question.