self driving cars and urban challenge

Self-Driving Cars and the Urban Challenge

Abdullah Al MahmudRoll : 0507006

Dept of CSE, KUETKhulna, Bangladesh

Presented by:

Authors

Chris Urmson

-- Carnegie Mellon UniversityWilliam “Red” Whittaker

-- Carnegie Mellon University

It was published in IEEE Intelligent Systems magazine, the March-April 2008 volume

2Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh

Self driving cars have been a dreamThe automobile is part and parcel in

developed world and is becoming so in the developing world

In 2007, the world’s two largest automakers sold over 18 million vehicles worldwide.

As we consider domains to apply intelligent systems, the automotive industry is most potential for impact

IntroductionIntroduction


MotivationMotivation

Each year 1.2 million people die

In US, 2.7 million injured each year

42,000 killed in traffic accident

Avoid crush than to survive


Benefits of Autonomous Vehicles

Safety Commutating time reduceA great privilege for the disables Reduce environmental impact of driving Autonomous cars & trucks can tune

acceleration profiles, reduce wasted fuels In mass vehicles, safety and fuel

efficiency

Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh 5

In ‘80s, Dickmanns’ van in roads without traffic By ‘90s, Navlab highway driving in normal

traffic CyCab was capable of driving autonomously at

a low speed among pedestrians In 2003, DARPA announced the first Grand

Challenge. But no vehicle was able to complete In 2004, 5 vehicles completed a challenge with

Stanley to complete 152 mile race in a little under 7 hours

Brief History


BOSS and Urban ChallengeBOSS and Urban Challenge

Boss won DARPA challenge using combinations of:

LASER

RADAR

GPS data


Light Detection & Light Detection & RangingRanging

A pair of down-looking LASERs mounted above the rear wheel to detect lane markings

To estimate BOSS’s position, Lane markings, a map, GPS/ INS data combined by filter

Autonomous Car CharacteristicsAutonomous Car Characteristics


Autonomous Car Characteristics(2)Autonomous Car Characteristics(2)

Once Boss knows the position, it can predict upcoming corners and do turning as necessary


Autonomous Car Characteristics (3)Autonomous Car Characteristics (3)

Boss can park Pass stopped

vehicles Pass moving

vehicles Safely interact with

other vehicles while at upto 30 mph


Contextual information by MapContextual information by Map


(a) Two vehicles appear to be on a collision course.

(b) One of the vehicles is just making a lane change that nothing untoward is about to happen

Software System ComponentsSoftware System Components

Perception--Models moving vehicles & Static objects around

Mission Planning

--Finds best routes in map. Reroutes if road blocked

Motion Planning

--Ensures that it doesn’t collide with anything

Software Infrastructure

--Enable efficient testing and development

Behavioral Reasoning

--Tactical decisions and handling from error states12Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh

Unsolved ProblemsUnsolved Problems

Interactions with Traffic Lights Poorly operated around pedestrians Relied on sensors that are too expensive Expenses are unwieldy for consumer

vehicles Live Traffic Jams Bad environment


ConclusionsConclusions

The technical and social and legal issues associated with driving control will be at the forefront of the research agenda

Heavy equipment manufacturers are announcing autonomous haul trucks for deployment as early as 2010.

General Motors announced that autonomous vehicles will be ready for market by 2020

These are high time for autonomous vehicle research


References

Autonomous Driving in Urban Environments: Boss and the Urban Challenge

-- Chris Urmson, Carnegie Mellon UniversityAutonomous Vehicles

-- Dipak Chaudhari, Indian Institute of Technology, Bombay

IEEE Computer Society


self driving cars and urban challenge

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