artiÞcial intelligencepstone/courses/393rfall13/resources/week12-kurt.pdftraffic level (vehicles/s...
TRANSCRIPT
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Artificial Intelligence
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Driving Is Easy
Eating, phone calls, texting, sleeping
Drunk driving
Aggressive driving
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Driving Is Hard!
Distance and velocity estimation
Physical dexterity
Piloting vs. navigating
Split-second reactions
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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Tuesday, November 10, 2009
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To what extent and how can a multiagent intersection control mechanism take advantage of the capabilities of autonomous vehicles in order to
make automobile travel safer and faster?
The Question
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DesiderataAutonomyLow communication complexitySensor model realismProtocol standardizationDeadlock/starvation avoidanceIncremental deployabilitySafetyEfficiency
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MetricsMeasuring Efficiency
Delay: increased travel time due to intersection
Throughput: total vehicles/time/lane
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Simulator
“aim3” http://code.google.com/p/aim3
~20K lines of Java
Discrete time (0.02 s)
Non-holonomic vehicle motion
Point-to-point/broadcast communication
Vehicle spawned using Poisson process
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Vehicle-to-IntersectionDriver agents call ahead to reserve a region of space-time
Intersection manager approves or denies based on an intersection control policy
Vehicles may not enter the intersection without a reservation
Driver agents trust the intersection manager in the intersection
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I’m arriving at time t...
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Sounds good to me!
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ProtocolREQ
UEST
source
_id
destin
ation_
id
vehicl
e_leng
th
vehicl
e_widt
h
maximu
m_acce
lerati
on
minimu
m_acce
lerati
on
minimu
m_velo
city
front_
wheel_
displa
cement
rear_w
heel_d
isplac
ement
max_st
eering
_angle
max_tu
rn_per
_secon
d
emerge
ncy
traver
sal_pr
oposal
s
arriva
l_time
arriva
l_velo
city
maximu
m_velo
city
CANCELsource_id
destination_idreservation_id
DONEsource_iddestination_id
AWAY
source_id
destination_idACZ
_REQUE
ST
source
_id
destin
ation_
id
start_
lane
target
_lane
vehicl
e_leng
th
ACZ_CA
NCEL
source
_id
destin
ation_
id
ticket
_numbe
r ACZ_ENTEREDsource_id
destination_id
ticket_number
ACZ_EXIT
source_i
d
destinat
ion_id
CONFIRMsource_iddestination_id
reservation_idarrival_timeearly_errorlate_error
arrival_lanedeparture_lane
arrival_velocity
acz_distanceaccelerations
REJECTsource_iddestination_id
next_communicationreason
EMERGENCY_STOPsource_iddestination_id
ACZ_CONFIRMsource_iddestination_idticket_numberstart_lanetarget_laneacz_distance
ACZ_REJECTsource_id
destination_idreason
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The Important PointsProtocol
Set of messages and rules
Digitally signed
Agent implementations do not matter
Assume communication failure
Current mechanisms subsumed
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The FCFS Policy
“First come, first served”
Primary policy
Grid of reservation tiles
Internal simulation of vehicles’ trajectories
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Reservation Tile
“Granularity”
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Time t
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Time t
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FCFS Video
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0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0 0.5 1 1.5 2 2.5
Dela
y (s
)
Traffic Level (vehicles/s)
Stop Sign
Traffic Light Minimum
FCFS
Optimal
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Vehicle-to-Vehicle
Driver agents broadcast a claim
Define relations over claims:
✦ Conflict
✦ Priority
✦ Dominance
Permissibility
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I’m arriving at time t...
Uh, I’m also arriving at time t...
I’m arriving at time t...
Time t for me too...
No, I’m arriving at time t...
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1 2 3 4
source_id1
message_id13
ixn_id5
stopped_at_ixnfalse
arrival_lane1
departure_lane2
arrival_time128479
departure_time128523
source_id2
message_id6
ixn_id5
stopped_at_ixnfalse
arrival_lane1
departure_lane2
arrival_time128479
departure_time128613
source_id3
message_id10
ixn_id5
stopped_at_ixnfalse
arrival_lane1
departure_lane2
arrival_time128479
departure_time128497
source_id4
message_id4
ixn_id5
stopped_at_ixnfalse
arrival_lane1
departure_lane2
arrival_time128479
departure_time128564
Claim Claim Claim Claim
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1 2 3 4
Claim Claim Claim Claim
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1
32
4
“Dominance”
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41 3
Permissible Nonpermissible
2
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I’m arriving at time t...
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I’m arriving at time t...
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V2V Video
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The BenefitsHuman Usability
Some people enjoy driving
Classic cars
Transition period
Concepts extend to cyclists, pedestrians
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The FCFS-Signal PolicyAutonomous vehicles use protocolHuman-driven vehicles use signalsPolicy contains a signal modelUses state of relevant signal at arrival time:✦ Green: accept✦ Yellow: reject✦ Red: FCFSSet aside off-limits tiles during green phases
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✔
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✘
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All-Lanes
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Single-Lane
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0
10
20
30
40
50
60
0 0.5 1 1.5 2 2.5
Dela
y (s
)
Traffic Level (vehicles/s)
100% Human
10% Human
5% Human
1% Human
Fully Autonomous
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Failure Mode Analysis
Enable collision detection
Trigger incidents, examine aftermath
Construct crash log
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Tuesday, November 10, 2009
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10
20
30
40
50
60
70
80
90
100
0 10 20 30 40 50 60
Cars
Cra
shed
Time (s)
6 Lanes3 Lanes
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Mitigating Catastrophe
Assume intersection manager can detect
Reaction:
✦ Refuse future reservations
✦ Emergency-Stop message
Oblivous vs. passive vs. active
What if vehicles do not receive?
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1
1.5
2
2.5
3
3.5
0 2 4 6 8 10 12 14
Cars
Cra
shed
Time (s)
Passive20% receiving40% receiving60% receiving80% receiving
100% receiving
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0
25
50
75
100
Oblivious20%
60%100% Receiving
Average Number Of Crashed Vehicles
6 Lanes 3 Lanes
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0
1
2
3
4
Passive40%
80%
Average Number Of Crashed Vehicles
6 Lanes 3 Lanes
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best case # of cars today: 1
worst case # of cars involved: 4.5
accidents due to driver error: ~96%
1 - (4.5 * 0.04) : 82%
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What’s The Big Deal?Multiple Intersections
Protocol considerations
Downstream effects
Driver agent navigation
Upstream effects
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Admission Control Zone(ACZ)
ACZ Distance
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Admission Control Zone(ACZ)
ACZ Capacity
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Admission Control Zone(ACZ)
ACZ Capacity
I’m arriving at time t...
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Admission Control Zone(ACZ)
ACZ Capacity
✔
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Admission Control Zone(ACZ)
ACZ Capacity
✔
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Admission Control Zone(ACZ)
ACZ Capacity
Sounds good to me...
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Admission Control Zone(ACZ)
ACZ Capacity
I’m arriving at time t′...
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Admission Control Zone(ACZ)
ACZ Capacity
✘
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Admission Control Zone(ACZ)
ACZ Capacity
Sorry! Can’t do that!
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Admission Control Zone(ACZ)
ACZ Capacity
I’m away!
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Admission Control Zone(ACZ)
ACZ Capacity
I’m away!
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Multi-intersection Video
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Other Results
Effects of multiple intersections
Emergency vehicles
On-the-fly policy switching
Learning policy selection
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Intelligent VehiclesRelated Work
Object detection and tracking✦ Stereo far-IR/fusion (Mählisch et al. 2005)✦ Gray-valued video (Gepperth et al. 2005)Lane following✦ NN for Road Departure Warning (Kohl et al. 2006)✦ “No Hands Across America” (Pomerleau 1995)✦ Robust to lighting/road conditions (Watanabe and
Nishida 2005)✦ Unmarked roads (Ramström and Christensen 2005)Adaptive cruise control (Jaguar, Honda, BMW, Nissan, Toyota)
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Traffic SignalsRelated Work
TRANSYT (Robertson 1969)
SCOOT (Hunt et al. 1981)
Cooperative traffic signals (Roozemond 1999)
Q-learning (Abdulhai et al. 2003)
Learning Classifier Systems (Bull et al. 2004)
MAS + game theory (Bazzan 2005)
History-based (Balan and Luke 2006)
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Autonomous Vehicles at IntersectionsRelated Work
“Potential collision points”(Rasche and Naumann 1998)
Steering algorithms/collision avoidance(Reynolds 1999)
Platoons (Clement 2002, Hallé and Chaib-draa 2005)
Physical robots (Kolodko and Vlacic 2003)
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Mixed SimulationFuture Directions
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Proteus RobotsFuture Directions
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Exploring AsynchronicityFuture Directions
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Exploring AsynchronicityFuture Directions
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Questions?
Tuesday, November 10, 2009