Up to the limits: Autonomous Audi TTS

This paper presents a novel approach to autonomous driving at the vehicle's handling limits. Such a system requires a high speed, consistent control signal as well as numerous safety features capable of monitoring and stopping the vehicle. When operating, the system's high level controller utilizes a highly accurate differential GPS and known friction values to drive a precomputed path at the friction limits of the vehicle. The system was tested in a variety of road conditions, including the challenging Pikes Peak Hill climb. Results from this work can be extended to improve driving safety and accident avoidance in vehicles.