1 / 12

Driverless Cars

Driverless Cars. Samuel Erb CS534, Spring 2013. IMAGE: http://en.wikipedia.org/wiki/File:DesertToCity.jpg. Brief History. Driverless car history dates back to the 1930’s with radio controlled vehicles Get’s interesting in the 1980

bona
Download Presentation

Driverless Cars

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Driverless Cars Samuel Erb CS534, Spring 2013 IMAGE: http://en.wikipedia.org/wiki/File:DesertToCity.jpg

  2. Brief History • Driverless car history dates back to the 1930’s with radio controlled vehicles • Get’s interesting in the 1980 • Ernst Dickmanns, leading a team at Bundeswehr University Munich creates an autonomous 5-ton Mercedes-Benze van • By 1986 it can drive itself and by 1987 it can handle speeds approaching 60mph • His work lead up to a 1995 1758km trip where the car was driven 95% of the time autonomously

  3. How did Ernst do it? • Ernst Dickmannsis considered to be the pioneer of the autonomous car • ”recursive estimation” • Ernst referred to using all available information to construct a complete picture as “4-D” vision • Kalman filter • Error correcting filter based on prior knowledge and an expectation of errors & measurements have a Gaussian Distribution • First used in the navigation computer on the Apollo missions • Artificial saccadic movements • We see the world with saccadic movements • Their entire system was capable of physically focusing on important objects

  4. “4-D” vision

  5. Brief History, continued • The 1990’s were less than exciting. University funded research projects in the US & Italy effectively kept pace with Ernst.

  6. Brief History, continued • 2000’s - DARPA Grand Challenge! • Created due to a response to a congressional mandate that all US military ground vehicles are to be unmanned by 2015 • 2004 – 1stGrand Challenge, Mojave Desert, kind of a failure • Furthest team, a Carnegie Mellon University’s converted Humvee, made it 7.32 miles of the 150 mile course • 2005 – 2nd Grand Challenge, Mojave Desert, 5 finished! • Winner was the now iconic red bull decorated Stanford University “Stanley” which did the 132 miles in just under 7 hours • 2007 – 3rd Grand Challenge, George Air Force Base, California • Winner was Carnegie Mellon University’s “Boss” with a time of 4 hours over the 60 mile urban course • Since 2008 – autonomous commercial vehicles. Mainly used in mining operations.

  7. Boss (Carnegie Mellon University) • Winner of the 2007 DARPA Grand Challenge • Multiple layers: • Motion Planning – executes current motion goal • Trajectory Generation – “model-predictive trajectory generator” • On-Road Navigation – creates curve along center lane and aligns rear tires • Zone Navigation – handles navigation when there are no lane markers (Anytime D*) • Never makes assumptions about objects (moving/not moving).

  8. Boss, continued • Anytime D* • A few variations, but main concept is iteratively finding “better” solutions over time (typically “D* lite” is used) • 2 second overview • Similar to A*, but can raise/lower estimated cost while being computed • Starts from goal and works backwards, checking for estimation inconsistancies • Can be modified in real-time as start moves

  9. Boss, continued – errors observed

  10. Future • Many car models already include autonomous assists • Within the next 3 years, many car manufacturers expect to have cars featuring steering, braking and lane guidance • Within 5 years Google expects to release it’s technology • Within the next 10 years many car manufacturers expect to have fully autonomous cars for sale!

  11. Image sources • http://bergstromautomotive.blogspot.com/2012/02/autonomous-cars-through-ages.html • http://www.idsia.ch/~juergen/robotcars.html • http://www.springer.com/engineering/mechanical+engineering/book/978-1-84628-637-7 • http://www.wired.com/autopia/wp-content/gallery/autonomous-vehicles/Carnegie-Mellon-Sandstorm-autonomous-vehicle.jpg • http://en.wikipedia.org/wiki/File:DARPA_Challenge_RedTeam.jpg • http://cs.stanford.edu/group/roadrunner//old/images/front_stanley_picture.gif • http://www.sciencedaily.com/releases/2007/11/071105230951.htm • http://cdn0.mos.techradar.com//art/internet/Google/google_automated_car-900-75.jpg

  12. Sources • http://en.wikipedia.org/wiki/DARPA_Grand_Challenge • http://en.wikipedia.org/wiki/Driverless_car • http://en.wikipedia.org/wiki/Ernst_Dickmanns • http://www.ce.unipr.it/people/broggi/publications/expert.pdf • http://cis.temple.edu/~latecki/Courses/RobotFall08/Papers/DickmannsIJCAI97.pdf • http://en.wikipedia.org/wiki/Saccadic • http://en.wikipedia.org/wiki/Kalman_filter • https://autodriving.googlecode.com/files/Boss.pdf • http://en.wikipedia.org/wiki/D* • http://www.cs.cmu.edu/~ggordon/likhachev-etal.anytime-dstar.pdf

More Related