Self-Driving Cars and the Urban Challenge Abdullah Al Mahmud Roll : 0507006 Dept of CSE, KUET Khulna, Bangladesh Presented by:
Sep 12, 2014
Self-Driving Cars and the Urban Challenge
Abdullah Al MahmudRoll : 0507006
Dept of CSE, KUETKhulna, Bangladesh
Presented by:
Authors
Chris Urmson
-- Carnegie Mellon UniversityWilliam “Red” Whittaker
-- Carnegie Mellon University
It was published in IEEE Intelligent Systems magazine, the March-April 2008 volume
2Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
Self driving cars have been a dreamThe 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
IntroductionIntroduction
3Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
MotivationMotivation
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
4Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
Benefits of Autonomous Vehicles
Safety Commutating time reduceA 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 5
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 152 mile race in a little under 7 hours
Brief History
6Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
BOSS and Urban ChallengeBOSS and Urban Challenge
Boss won DARPA challenge using combinations of:
LASER
RADAR
GPS data
7Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
Light Detection & Light Detection & RangingRanging
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
Autonomous Car CharacteristicsAutonomous Car Characteristics
8Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
Autonomous Car Characteristics(2)Autonomous Car Characteristics(2)
Once Boss knows the position, it can predict upcoming corners and do turning as necessary
9Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
Autonomous Car Characteristics (3)Autonomous Car Characteristics (3)
Boss can park Pass stopped
vehicles Pass moving
vehicles Safely interact with
other vehicles while at upto 30 mph
10Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
Contextual information by MapContextual information by Map
11Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
(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
Software System ComponentsSoftware 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 states12Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
Unsolved ProblemsUnsolved 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
13Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
ConclusionsConclusions
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
14Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh
References
Autonomous Driving in Urban Environments: Boss and the Urban Challenge
-- Chris Urmson, Carnegie Mellon UniversityAutonomous Vehicles
-- Dipak Chaudhari, Indian Institute of Technology, Bombay
IEEE Computer Society
15Abdullah Al Mahmud, 0507006, Dept of CSE, KUET, Bangladesh