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Self Driving Cars And Urban Challenge
 

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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    Self Driving Cars And Urban Challenge Self Driving Cars And Urban Challenge Presentation Transcript

    • Self-Driving Cars and the Urban Challenge Abdullah Al Mahmud Roll : 0507006 Dept of CSE, KUET Khulna, Bangladesh Presented by:
    • 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
      • 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
    • 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
    • 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
      • 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
    • BOSS and Urban Challenge
        • Boss won DARPA challenge using combinations of:
        • LASER
        • RADAR
        • GPS data
      Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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