Embed Size (px)
Citation preview
CONFIDENTIAL©2014 GlobalLogic Inc.
DIY Self-Driving Car
Overview an HowTos
2 CONFIDENTIAL
The beginnings
1950 Smart Highwayswith steel cable in the roadGM and RCA, USA
1977 Machine visiontracked white road markingTsukuba Mechanical Engineering Lab, Japan
1997 PROMETHEUS 1200 mi, 94% autonomouslyARGO Project, Italy
2004 DARPA ContestUSA
3 CONFIDENTIAL
DARPA: The challenge
− 2004 – less than 12 of 240 km route completed
− 2005 – 5 of 23 vehicles finished the course. 4 in 7.5 hrs
− The winner was Stanley (Stanford Uni)
− 2007 – Grand (Urban) Challenge – City model with traffic: 1st Tartan Racing (Chevy Tahoe, Carnegie Uni) – 14 mph;
2nd Stanford Racing (VW Passat, Stanford Uni) – 13.7 mph;
3rd – VictorTango (Ford Hybrid Escape, Virginia Polytechnic Inst) – 13 mph.
− 2013 – Fast Adaptable Next-Generation Ground Vehicle (FANG) Challenge – military platforms contest.
4 CONFIDENTIAL
Google: Human drivers are the problemManned vehicle T-crossing VS unmanned
Advantages:
• No accidents
• Denser traffic
• Less stops – less jam
• Higher vehicle coordination
• Lower travel time
• Lower air pollution
Unmanned vehicle T-crossing
5 CONFIDENTIAL
Self-Driving Car (SDC) – What’s inside?
− A lot of sensors – more is better: velocity, acceleration, magnetic sensors; gyroscope, compass, range sensors, video, LIDAR, GPS,
− Control – steering, speed/brakes, transmission, signaling lights, horn etc,
− Computing power – distributed computing (sensor’s controllers), centralized computing (multi-core, even up to 40 – MIT’s Talos),
− Connectivity – WWW, inter-SDC,
− UI
6 CONFIDENTIAL
Spinal cord: Sensors and Controls init, coordination and
interaction, emergency handling
CtrlrS2 CtrlrSNCtrlrS1
Self-Driving Car – How it works?Sensor1
UI/AI: Goal definition, Route planning, Emergency
recovering
Sensor2 SensorN
Hard realtime
RealtimeBusiness logic (AI?):
Motion planning, Positioning, Emergency avoiding
CtrlrC1 Control1
CtrlrC2 Control2
CtrlrCN ControlN
Not realtime
7 CONFIDENTIAL
Programming the SDCGetSensorsData();
If(Sensor1OK) do(actionOnSensor1(Sensor1Data));
If(Sensor2OK)
If(resActionOnSensor1 == res1onSensor1) do(action1OnSensor1(Sensor1Data))
else do(action2OnSensor1(Sensor1Data))
If(Sensor3OK)
If(state == Stopped)
If(resActionOnSensor2 == res1onSensor2)
If(…)
else …
8 CONFIDENTIAL
Programming the SDC Cntd.GetSensorsData()
AnalyseSensorsData(CurrentState[])
MotionPlan()
CalculateControls()
Go()
CurrentState[]:
P1, C1,P2, C2, … PM, CM
Sensor1 10 .99 3 .857 .3
Sensor2 8 .7 3 .160 .9
…
SensorN 15 0 4 .955 .7
9 CONFIDENTIAL
Legend
Route
Desired position
Sensors’ data
Obtained position
What we get
10 CONFIDENTIAL
Our Big Goal
− Have our RoboCar running and avoiding obstacles,
− Teach it to create its world’s map and navigating in it,
− Persuade it to charge its batteries at Docking station when depleted,
− Make it to interact with surrounding,
− Do it all having a lot of fun.
CONFIDENTIAL©2014 GlobalLogic Inc.
Thank you!
