F. Large

Abstract: Developing new Intelligent Transportation Systems which take into con-sideration the social-economical, environmental, and safety factors of the modern human society, is one of the grand challenges of the 21th century. This paper presents the motion autonomy capabilities which have been developed for future cars in the scope of the French Praxitele and Automated Road projects. These new capabilities relies onto eective solutions that we have developed for contributing to solve three main problems: autonomous maneuvering for a car-like vehicle using the concept of Sensor-Based Maneuver, planning and controling the motions of a double-steered vehicle (the CyCab) using the concept of Dierential Flatness, and obstacle avoidance in a dynamic environment using the concept of Non-Linear Velocity Obstacle. Experimental results obtained with real vehicles are also presented and discussed