PRORETA 5-building blocks for automated urban driving enhancing city road safety

In the joint research project PRORETA 5, building blocks for automated driving in urban areas have been developed, implemented, and tested. The developed blocks involve an object tracking for cars, bicycles, and pedestrians that feeds a multimodal object prediction which is able to predict the traffic participants' most likely trajectories. Then, an anytime tree-based planning algorithm calculates the vehicle's desired path. Finally, logic-based safety functions ensure a collision-free trajectory for the ego vehicle. The mentioned building blocks were integrated and tested in a prototype vehicle in urban scenarios. Furthermore, a novel general framework for specifying and testing traffic rule compliance has been developed. In this paper, the automated driving concept of PRORETA 5 is introduced and the developed methods are briefly explained.