Self Driving Cars And Urban Challenge

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This slide was prepared following a paper of IEEE Intelligent System. It was presented in my seminar course of Undergrad studies.

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Self Driving Cars And Urban Challenge

  1. 1. Self-Driving Cars and the Urban Challenge Abdullah Al Mahmud Roll : 0507006 Dept of CSE, KUET Khulna, Bangladesh Presented by:
  2. 2. Authors <ul><ul><li>Chris Urmson </li></ul></ul><ul><ul><li>-- Carnegie Mellon University </li></ul></ul><ul><ul><li>William “Red” Whittaker </li></ul></ul><ul><ul><li>-- Carnegie Mellon University </li></ul></ul><ul><ul><li>It was published in IEEE Intelligent Systems magazine, the March-April 2008 volume </li></ul></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  3. 3. <ul><li>Self driving cars have been a dream </li></ul><ul><li>The automobile is part and parcel in developed world and is becoming so in the developing world </li></ul><ul><li>In 2007, the world’s two largest automakers sold over 18 million vehicles worldwide. </li></ul><ul><li>As we consider domains to apply intelligent systems, the automotive industry is most potential for impact </li></ul>Introduction Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  4. 4. Motivation <ul><li>Each year 1.2 million people die </li></ul><ul><li>In US, 2.7 million injured each year </li></ul><ul><li>42,000 killed in traffic accident </li></ul><ul><li>Avoid crush than to survive </li></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  5. 5. Benefits of Autonomous Vehicles <ul><ul><li>Safety </li></ul></ul><ul><ul><li>Commutating time reduce </li></ul></ul><ul><ul><li>A great privilege for the disables </li></ul></ul><ul><ul><li>Reduce environmental impact of driving </li></ul></ul><ul><ul><li>Autonomous cars & trucks can tune acceleration profiles, reduce wasted fuels </li></ul></ul><ul><ul><li>In mass vehicles, safety and fuel efficiency </li></ul></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  6. 6. <ul><li>In ‘80s, Dickmanns’ van in roads without traffic </li></ul><ul><li>By ‘90s, Navlab highway driving in normal traffic </li></ul><ul><li>CyCab was capable of driving autonomously at a low speed among pedestrians </li></ul><ul><li>In 2003, DARPA announced the first Grand Challenge. But no vehicle was able to complete </li></ul><ul><li>In 2004, 5 vehicles completed a challenge with Stanley to complete 152­mile race in a little under 7 hours </li></ul>Brief History Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  7. 7. BOSS and Urban Challenge <ul><ul><li>Boss won DARPA challenge using combinations of: </li></ul></ul><ul><ul><li>LASER </li></ul></ul><ul><ul><li>RADAR </li></ul></ul><ul><ul><li>GPS data </li></ul></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  8. 8. Autonomous Car Characteristics <ul><li> Light Detection & Ranging </li></ul><ul><li>A pair of down-looking LASERs mounted above the rear wheel to detect lane markings </li></ul><ul><li>To estimate BOSS’s position, Lane markings, a map, GPS/ INS data combined by filter </li></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  9. 9. Autonomous Car Characteristics(2) <ul><ul><ul><li>Once Boss knows the position, it can predict upcoming corners and do turning as necessary </li></ul></ul></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  10. 10. Autonomous Car Characteristics (3) <ul><li>Boss can park </li></ul><ul><li>Pass stopped vehicles </li></ul><ul><li>Pass moving vehicles </li></ul><ul><li>Safely interact with other vehicles while at upto 30 mph </li></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  11. 11. Contextual information by Map <ul><li>(a) Two vehicles appear to be on a collision course. </li></ul><ul><li>(b) One of the vehicles is just making a lane change that nothing untoward is about to happen </li></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  12. 12. Software System Components <ul><li>Perception </li></ul><ul><li>--Models moving vehicles & Static objects around </li></ul><ul><li>Mission Planning </li></ul><ul><li>--Finds best routes in map. Reroutes if road blocked </li></ul><ul><li>Motion Planning </li></ul><ul><li>--Ensures that it doesn’t collide with anything </li></ul><ul><li>Software Infrastructure </li></ul><ul><li>--Enable efficient testing and development </li></ul><ul><li>Behavioral Reasoning </li></ul><ul><li>--Tactical decisions and handling from error states </li></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  13. 13. Unsolved Problems <ul><li>Interactions with Traffic Lights </li></ul><ul><li>Poorly operated around pedestrians </li></ul><ul><li>Relied on sensors that are too expensive </li></ul><ul><li>Expenses are unwieldy for consumer vehicles </li></ul><ul><li>Live Traffic Jams </li></ul><ul><li>Bad environment </li></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  14. 14. Conclusions <ul><li>The technical and social and legal issues associated with driving control will be at the forefront of the research agenda </li></ul><ul><li>Heavy equipment manufacturers are announcing autonomous haul trucks for deployment as early as 2010. </li></ul><ul><li>General Motors announced that autonomous vehicles will be ready for market by 2020 </li></ul><ul><li>These are high time for autonomous vehicle research </li></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  15. 15. References <ul><ul><li>Autonomous Driving in Urban Environments: Boss and the Urban Challenge </li></ul></ul><ul><ul><li>-- Chris Urmson, Carnegie Mellon University </li></ul></ul><ul><ul><li>Autonomous Vehicles </li></ul></ul><ul><ul><li>-- Dipak Chaudhari, Indian Institute of Technology, Bombay </li></ul></ul><ul><ul><li>IEEE Computer Society </li></ul></ul>Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh

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