Driverless Cars Samuel Erb CS534, Spring 2013 IMAGE: DesertToCity.jpg.
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Transcript of Driverless Cars Samuel Erb CS534, Spring 2013 IMAGE: DesertToCity.jpg.
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• 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
How did Ernst do it?
• Ernst Dickmanns is 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-D” vision
Brief History, continued
• The 1990’s were less than exciting. University funded research projects in the US & Italy effectively kept pace with Ernst.
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 – 1st Grand 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.
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).
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
Boss, continued – errors observed
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!
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
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