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.

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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  • 1. Self-Driving Cars and the Urban Challenge Abdullah Al Mahmud Roll : 0507006 Dept of CSE, KUET Khulna, Bangladesh Presented by:
  • 2. Authors
      • Chris Urmson
      • -- Carnegie Mellon University
      • William “Red” Whittaker
      • -- Carnegie Mellon University
      • It was published in IEEE Intelligent Systems magazine, the March-April 2008 volume
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 3.
    • Self driving cars have been a dream
    • The 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
    Introduction Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 4. Motivation
    • 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
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 5. Benefits of Autonomous Vehicles
      • Safety
      • Commutating time reduce
      • A 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
  • 6.
    • 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 152­mile race in a little under 7 hours
    Brief History Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 7. BOSS and Urban Challenge
      • Boss won DARPA challenge using combinations of:
      • LASER
      • RADAR
      • GPS data
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 8. Autonomous Car Characteristics
    • Light Detection & Ranging
    • 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
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 9. Autonomous Car Characteristics(2)
        • Once Boss knows the position, it can predict upcoming corners and do turning as necessary
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 10. Autonomous Car Characteristics (3)
    • Boss can park
    • Pass stopped vehicles
    • Pass moving vehicles
    • Safely interact with other vehicles while at upto 30 mph
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 11. Contextual 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
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 12. Software 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 states
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 13. Unsolved 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
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 14. Conclusions
    • 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
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
  • 15. References
      • Autonomous Driving in Urban Environments: Boss and the Urban Challenge
      • -- Chris Urmson, Carnegie Mellon University
      • Autonomous Vehicles
      • -- Dipak Chaudhari, Indian Institute of Technology, Bombay
      • IEEE Computer Society
    Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh