Stanley
Grand Challenge course · vehicle dynamics & sensors
0
km/h
N
Neutral
Route map±40 m
━ true path truth● GPS fixes meas.━ odometry est.━ GPS + DR est.■ free ■ occupied (laser grid, δ = 15 cm) est.
Forward cameraMeasured12 Hz · t=—
W / ↑ AccelerateS / ↓ Brake / ReverseA D / ← → SteerSpace HandbrakeR ResetC Camera
Grand Challengecourse
CorridorReferencePlannedDrivenProgress
Sensorsinspired by Stanley (2005)

Stanley: 181 rays at 0.5° (90°), 75 Hz, terrain out to 25 m. Tilt angles are approximate.

Persistence
Colour
Memory budget (oldest points are overwritten)

None of these move the vehicle.