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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

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Driverless Cars

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  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

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