The document discusses autonomous or self-driving cars. It describes how autonomous cars use sensors like LIDAR, radar, cameras and ultrasonic sensors along with GPS and an inertial measurement unit to navigate without human intervention. The central computer combines data from these sensors to construct a 3D map of the vehicle's surroundings and control systems like steering and braking. Major companies developing autonomous vehicle technology include Google, Audi, BMW, Ford and General Motors.

1. AUTONOMOUS CAR
SUBMITTED BY
ABHISEK DAS
REGN. NO. 1101109183
GUIDED BY
DR. TRILOCHAN ROUT

2. CONTENTS
 Introduction
 What is Autonomous car
 Back Ground
 Component Use
 Working
 Companies Name
 Benefits

3. INTRODUCTION
 Driver error is the most common cause of
traffic accidents
 India contributes 6 % of the world's road
accident deaths
 Cell phones in-car ,entertainment systems, more
traffic and more complicated road systems
making it more frequent
 Drowsiness of the driver and failure in taking
sudden decisions adds up to the factors .
 The fully autonomous cars posses the
technology which drives it the safest way
possible and have been proved successful in this
context till now .

4. WHAT IS A AUTONOMOUS CAR
 Autonomous car are also called automated
car or robotic vehicle or self-driving car .
 That is designed to travel between
destinations without a human interaction.
 To qualify as fully autonomous, a vehicle
must be able to navigate without human
intervention to a predetermined destination
over roads that have not been adapted for
its use.

5. BACK GROUND
 The project is currently
being led. By:Sebestain
Thrun.
 Director of the
Stanford Artificial
Intelligence Laboratory
 2005 DARPA Grand
Challenge Winner
 Co-Inventor of Google
Street view

6. ABOUT EXISTING AUTONOMOUS CARS
 A lot of experiments where done regarding this topic
but the only successful , fully autonomous , driverless
car was finally invented by a team of engineers in
Google .
 Google Chauffer or Google Car is considered to be one
of the best inventions in the last 25 years .
 Consisting of a whole lot of sensor systems and a
powerful central processing unit , Google Car easily
drives through any traffic conditions and topologies .
 It detects pedestrians , cyclists , traffic signals ,
oncoming vehicles , speed and distance to be
maintained between successive vehicles etc .

7. COMPONENTS USED
 LIDAR( Light Detection And Ranging)
 Automotive Radar System
 Ultrasonic Sensors
 Video Cameras
 GPS( Global Positioning System)
 Position Estimators
 Inertial Measurement Unit
 A central processing unit or computer unit to control all
the above systems as well as systems like ABS
(Antilock Braking System) , ESC ( Electronic Stability
Control ) , Self Parking etc.

9. THE LIDAR SYSTEM
 The Light Detection And Ranging system can be
considered as the eye of the car .
 It is a remote sensing technology which measures
distance by illuminating a target with a light beam and
analyses the reflected light .
 It uses Laser beams , ultra violet , visible light or near
infrared light to image objects .
 It can target a wide range of materials .
 Here , a narrow laser beam is used , which maps
physical structures with a high resolution .
 There are two types of LIDAR systems : Coherent and
Incoherent .
 Here , a Coherent LIDAR system is used which uses
Optical Heterodyne Detection , which yields more
sensitivity than Incoherent systems , but at the
expense of more complex transceiver components .

10. The system uses Laser beams of wavelength 1550 nm which are “ eye-safe”.
The scanning module used here is a Velodyne 64 beam laser module .
The basic LIDAR system consists of a Laser
range finder beam reflected using a rotating mirror .
The laser beam is scanned around the scene to be digitized , in 3
Dimensions using an array of similar systems , gathering distance
measures at
specified angle intervals .
The detector part uses two
main technologies
i.e, Solid State Photo
Detectors and Photomultipliers.
The LIDAR sensors require info
about their orientation and
position ,
which they obtain from the GPS
and the Inertial Measurement Unit .

11. THE AUTOMOTIVE RADAR SYSTEM
 The Radar system used here is of 24GHz domain which
have good performance in range and azimuth angle
measurement .
 The range of radar systems used is up to 300m .
 The radar system are used for detecting oncoming
vehicles , their speed , other obstacles , for self parking
, blind spot detection , pre-crash detection etc.
 The Radar systems are installed on the bumper of the
vehicle at the front
as well as at the back side of the vehicle .
For applications other than blind spot
detection , higher precision , longer range and
higher update rates are needed .
 Radar systems detect the surrounding
environment and the central computer combines
this result with that of the LIDAR system .

13. The Radar system is mounted in the above way . The sensor IF-output
signals are processed separately in the DSP control units
and four target lists are sent to the central processor (radar
decision unit) via CAN bus.
Each single sensor measures the target range only. The data
fusion is performed in the radar decision unit.
The Application part means the unit to which the information
gained is to be applied .
The information include distance information of objects ,
relative velocities of objects and their angular positions .

14. HOW THE CAR SEES THE WORLD
 The information from the LIDAR system , the Radar Systems as
well as The ULTRASONIC Sensors which are used for Blind Spot
detection as well as to detect nearby objects and also some data
from the video camera are combined by the central processing unit
.
 By combining these data , a 3D map of the surroundings is
generated by the central computer .
 The 3D map will include detailed info. about moving and stationary
objects , like pedestrians , cyclists , other vehicles , edges
of roads .
 Combining the 3D map with info. from the GPS module , the central
processing unit controls the steering , accelerator brakes etc.

16. THE VIDEO CAMERA
 Video cameras are installed at the top of the front glass of the near
the rear view mirrors.
 These cameras are used to detect the traffic lights , traffic signs ,
pedestrians etc.
 The traffic lights are detected by image processing which is done by
the central processing computer.
 The computer processes the videos and detects whether traffic lights
are red , yellow or green .
 If a red/yellow light is detected , the computer stops/slows down the
vehicle .
 The Video Cameras also detect
 different road signs
 like “ STOP” signs , ZEBRA
crossings , sign Boards etc .

17. THE GPS AND IMU SYSTEMS
 GPS ( Global Positioning System ) , uses satellites to gather
information about the current position of the vehicle , the
topology and by using the GPS a map of the area is loaded into the
central computer .
 But data from GPS alone is less accurate . So , this data is
combined with outputs from the IMU ( Inertial Measurement Unit
) .
 IMU is an electronic device which measures and gives information
about the vehicle’s velocity , orientation , gravitational forces etc.
 IMU uses a combination of accelerometers , gyroscopes and
magnetometers .
 An IMU helps GPS system to work when signals are unavailable
such as in tunnels , buildings , bad weather conditions and when
electromagnetic interference is present .
 By combining data from IMU-GPS systems , a map is developed
and is compared with the 3D map prepared by the computer for
better results .
 This system is also used in navigating the car by the user in which
the passenger gives the destination he needs to reach using GPS
systems .

18. THE CENTRAL COMPUTER
 All the data obtained from each and every sensor systems is fed to
the central computer .
 The central computer is a very powerful processing unit mounted on
the inside of the vehicle .
 Position Estimator Sensor is an important part of the vehicle , which
is an ultrasonic sensor used to detect the current position of the
vehicle and respond to even a small movement of the vehicle .
 It is used for constantly updating the position of the vehicle with
respect to the 3D map .
 It is mounted near the left rear wheel .
 The central computer constantly receives data from the position
estimator ( also called Wheel Encoder ) and combines it with the
data from the other sensors .
 The computer uses this data to control the steering , accelerator ,
brakes etc .
 The computer also helps in navigating to a desired point through the
shortest path .
 It is also used for limiting the speed of the vehicle .

19. OTHER TECHNOLOGIES USD IN CAR
 Anti-lock brakes(ABS)
 Electronic stability
control (ESC)
 Cruise control
 Lane Departure
Warning System
 Self Parking
 Automated Guided
Vehicle Systems
 Automotive Night
Vision
 Adaptive Highbeam

20. COMPANIES NAMES
 Companies developing and/or testing cars
include.
 Audi
 BMW
 Ford
 Google
 General Motors
 Volkswagen
 Volvo

21. ADVANTAGES
 Managing traffic flow to increase road capacity.
 Relieving vehicle occupants from driving allowing
them to concentrate on other tasks or to rest during
their journeys.
 To avoid accidents .
 Increasing roadway capacity by managing the
distances between cars.
 The current location of vehicle can be determine
using global positioning system (G.P.S) .

22. DISADVANTAGES
 If the vehicle is using internet which is have less
security then From the hackers point of view in
some cases the vehicle can be switched off on the
road(in rare cases)
 Hackers can change the rout which is plotted in the
system(in rare cases)
 In case of failure of main sensor and backup
sensors the vehicle can create a chance of accident
 Also , there is difficulty for the system to
understand hand-signals .

23. CONCLUSION
 The driver less car is a technological
masterpiece.
 It is boon for handicapped people and for those
who feel uncomfortable while driving .
 It is very helpful in reducing the number of
accidents .
 The high cost of the sensor systems is a factor
which can adversely affect it . But mass
production of the vehicle can reduce the effect
.
 Also , if the nations like India approve such cars
to be driven in the traffic , it will be very much
helpful for us .

24. REFERENCES
 http://en.wikipedia.org/wiki/driverless car
 http://autocontrols.com.au/
 http://www.howstuffworks.com/cruise-control
 http://www.howstuffworks.com/electronic
stability control