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Autonomousvs.AutomatedAreautonomousvehiclesablessingorthreat
Autonomousvs.Automated
• Woodetal.(2012)firstusestheterm"autonomous"• 'Automated'connotescontrol,while'autonomous'connotesindependently• Autonomousmeansself-governing.• Autonomousimpliesperformanceunderuncertaintiesandtheabilitytocompensateforsystemfailures• Earlierprojects(i.e.ECT)relyingonartificialaidssuchasinductiveormagneticstrips• Outsideinfluencesreducethelevelautomation,andmayrequireintervention
• Whenadriverisrequired,theterm'automated'wouldmoreaccurate• Autonomouscarsdonotcommunicatewithothervehiclesorwithanenvelopingmanagementregime
Geospatialworld
• Autonomousdrivingwillhandleallthedrivingtasks• Thiswillhaveanimpactonroadsafetyandmobilityforeveryone• Vehiclesdetectpedestrians,cyclists,vehicles,roadworkandmoreinall360degrees• Sensorsdetectandpredictthebehavioralltheroadusers• 94%ofcrashesinvolvehumanchoiceorerror
SAE's "driving modes"
• Level0:Automated systemissueswarnings and may momentarily intervene buthasnosustained vehiclecontrol.
• Level1("handson"):Thedriverand the systemsharecontrol• Level2("handsoff"):Theautomated systemtakesfullcontrol.Thedrivermustbeprepared to intervene if the systemfails.
• Level3("eyes off"):Thedriverneed noattentionfor the driving tasks,Thevehiclewillhandlesituations that callfor an immediate response.Thedrivermuststill be preparedto intervene within some time
• Level4("mindoff"):Nodriverattentioniseverrequired for driving.• Level5("steeringwheel optional"):Nohumanintervention iseverrequired
• note heshiftfrom 2to 3:the humandrivernolonger hasto monitorthe environment
Theincreasingcomplexity
• Thecomplexityofautonomouscarsisincreasing,withsome250applications(e.g.navigationcontrols,weathersensors)• Thebigchallengeistooptimizethatandletallofthosevendorswork
MakingamapoftheWorld
• Today,advancedrobotsarepoppingup everywherethanksto:sensors,actuators,MachineLearningandAI• Sensors:• AutonomousvehiclescanonlynavigatewithLidar,whichspewslaserstobuildamapoftheworld.• Algorithmspicklandmarksandobjects
Robotplatforms
• Inautonomousdriving,thereexistsalayerbetweentheoperatingsystemrunningonthecarandthealgorithms• ROSisanopen-sourceforrobotics,prototyping• AWare OS,isdesignedforLevel4autonomousdriving• Verticalvshorizontalapproachinpartneringwithothers
TeslaModelSAutopilotisonlysuitableforlimited-accesshighways,notforurbandriving
Aself-drivingcarwiththepreviousGooglebranding
ALexusRX450hretrofittedbyGoogleforitsself-drivingcarproject
Impactofautonomousdriving
• Citiesmustrebalancebudgetsbroughtinbycars(taxes,fees,ticketsandparkingrevenues)• Driverlesscarsdon'tneedthesethings• Thelikelihoodofwidespreadadoptionisstillunclear,butanumberofunresolvedquestionswillpop-up• Anewlookathowinfrastructureistobebuilt• Infrastructureimprovementsmustbebeneficialtobothhumandriversandautomatedvehicles
• Self-drivingvanswillmakehomedeliveriessignificantlycheaperandtransformretail• Whatistheeffectontravelbehavior?• Willcarownershipandcaruseincreasebecauseitiseasiertousethem?• Willcar-sharingdecreasethetotalusage,andmakecarsmoreefficient?
Challenges
• Thechallengeistoproducesensorydatainordertoprovideaccuratedetection• Self-drivingcarsusealgorithms,whichfusedatafrommultiplesensorsandestimatesmapupdates• Sensorsdetectandtracksofothermovingobjects,suchascarsandpedestrians• TypicalsensorsincludeLidar,Vision,GPS• Sensorfusionintegratesinformationfromavarietyofsensorstoproduceaconsistent,accurate,andviewoftheenvironment• Driverlessvehiclesarebeingdevelopedwith neuralarchitecture,inwhichneuronsaresimulatedfromtheenvironment• Theneuralnetworkdependsonanextensiveamountofdataextractedfromreal-lifedrivingscenarios, enablingnetworkto"learn"
DeepLearning
• Deeplearning (alsoknownas deepstructuredlearning or hierarchicallearning)ispartofabroaderfamilyof machinelearning methodsbasedon learningdatarepresentations,asopposedtotask-specificalgorithms• DL havebeenappliedtofieldsincluding computervision, speechrecognition, naturallanguageprocessing,audiorecognition,socialnetworkfiltering,wheretheyhaveproducedresultssuperiortohumanexperts• DLisvaguelyinspiredbypatternsinbiological systems buthavevariousdifferencesfrompropertiesofbiologicalbrains,whichmakethemincompatiblewith neuroscience evidences