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CONFIDENTIAL©2014 GlobalLogic Inc.
DIY Self-Driving Car
Overview an HowTos
2 CONFIDENTIAL
The beginnings
1950 Smart Highways
with steel cable in the road
GM and RCA, USA
1977 Machine vision
tracked...
3 CONFIDENTIAL
DARPA: The challenge
− 2004 – less than 12 of 240 km route completed
− 2005 – 5 of 23 vehicles finished the...
4 CONFIDENTIAL
Google: Human drivers are the problem
Manned vehicle T-crossing VS unmanned
Advantages:
• No accidents
• De...
5 CONFIDENTIAL
Self-Driving Car (SDC) – What’s inside?
− A lot of sensors – more is better: velocity, acceleration, magnet...
6 CONFIDENTIAL
Spinal cord:
Sensors and Controls init, coordination and
interaction, emergency handling
CtrlrS2 CtrlrSNCtr...
7 CONFIDENTIAL
Programming the SDC
GetSensorsData();
If(Sensor1OK) do(actionOnSensor1(Sensor1Data));
If(Sensor2OK)
If(resA...
8 CONFIDENTIAL
Programming the SDC Cntd.
GetSensorsData()
AnalyseSensorsData(CurrentState[])
MotionPlan()
CalculateControl...
9 CONFIDENTIAL
Legend
Route
Desired position
Sensors’ data
Obtained position
What we get
10 CONFIDENTIAL
Our Big Goal
− Have our RoboCar running and avoiding obstacles,
− Teach it to create its world’s map and n...
CONFIDENTIAL©2014 GlobalLogic Inc.
Thank you!
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DIY Self-Driving Car

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This presentation is about self driving cars: a history of the concept, advantages of such vehicles and their work principle.

The talk on self-driving cars was delivered by Oleksiy Prots (Senior Software Engineer, GlobalLogic) at GL Lviv RoboClub meeting on June 19, 2015.

Published in: Engineering
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DIY Self-Driving Car

  1. 1. CONFIDENTIAL©2014 GlobalLogic Inc. DIY Self-Driving Car Overview an HowTos
  2. 2. 2 CONFIDENTIAL The beginnings 1950 Smart Highways with steel cable in the road GM and RCA, USA 1977 Machine vision tracked white road marking Tsukuba Mechanical Engineering Lab, Japan 1997 PROMETHEUS 1200 mi, 94% autonomously ARGO Project, Italy 2004 DARPA Contest USA
  3. 3. 3 CONFIDENTIAL DARPA: The challenge − 2004 – less than 12 of 240 km route completed − 2005 – 5 of 23 vehicles finished the course. 4 in 7.5 hrs − The winner was Stanley (Stanford Uni) − 2007 – Grand (Urban) Challenge – City model with traffic: 1st Tartan Racing (Chevy Tahoe, Carnegie Uni) – 14 mph; 2nd Stanford Racing (VW Passat, Stanford Uni) – 13.7 mph; 3rd – VictorTango (Ford Hybrid Escape, Virginia Polytechnic Inst) – 13 mph. − 2013 – Fast Adaptable Next-Generation Ground Vehicle (FANG) Challenge – military platforms contest.
  4. 4. 4 CONFIDENTIAL Google: Human drivers are the problem Manned vehicle T-crossing VS unmanned Advantages: • No accidents • Denser traffic • Less stops – less jam • Higher vehicle coordination • Lower travel time • Lower air pollution Unmanned vehicle T-crossing
  5. 5. 5 CONFIDENTIAL Self-Driving Car (SDC) – What’s inside? − A lot of sensors – more is better: velocity, acceleration, magnetic sensors; gyroscope, compass, range sensors, video, LIDAR, GPS, − Control – steering, speed/brakes, transmission, signaling lights, horn etc, − Computing power – distributed computing (sensor’s controllers), centralized computing (multi-core, even up to 40 – MIT’s Talos), − Connectivity – WWW, inter-SDC, − UI
  6. 6. 6 CONFIDENTIAL Spinal cord: Sensors and Controls init, coordination and interaction, emergency handling CtrlrS2 CtrlrSNCtrlrS1 Self-Driving Car – How it works? Sensor1 UI/AI: Goal definition, Route planning, Emergency recovering Sensor2 SensorN Hard realtime Realtime Business logic (AI?): Motion planning, Positioning, Emergency avoiding CtrlrC1 Control1 CtrlrC2 Control2 CtrlrCN ControlN Not realtime
  7. 7. 7 CONFIDENTIAL Programming the SDC GetSensorsData(); If(Sensor1OK) do(actionOnSensor1(Sensor1Data)); If(Sensor2OK) If(resActionOnSensor1 == res1onSensor1) do(action1OnSensor1(Sensor1Data)) else do(action2OnSensor1(Sensor1Data)) If(Sensor3OK) If(state == Stopped) If(resActionOnSensor2 == res1onSensor2) If(…) else …
  8. 8. 8 CONFIDENTIAL Programming the SDC Cntd. GetSensorsData() AnalyseSensorsData(CurrentState[]) MotionPlan() CalculateControls() Go() CurrentState[]: P1, C1, P2, C2, … PM, CM Sensor1 10 .99 3 .8 57 .3 Sensor2 8 .7 3 .1 60 .9 … SensorN 15 0 4 .9 55 .7
  9. 9. 9 CONFIDENTIAL Legend Route Desired position Sensors’ data Obtained position What we get
  10. 10. 10 CONFIDENTIAL Our Big Goal − Have our RoboCar running and avoiding obstacles, − Teach it to create its world’s map and navigating in it, − Persuade it to charge its batteries at Docking station when depleted, − Make it to interact with surrounding, − Do it all having a lot of fun.
  11. 11. CONFIDENTIAL©2014 GlobalLogic Inc. Thank you!

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