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Princeton Participation in DARPA Challenges

Princeton Participation in DARPA Challenges. by Alain L. Kornhauser, PhD Professor, Operations Research & Financial Engineering Director, Program in Transportation Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University Presented at ITS-NY

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Princeton Participation in DARPA Challenges

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  1. Princeton Participation in DARPA Challenges by Alain L. Kornhauser, PhDProfessor, Operations Research & Financial EngineeringDirector, Program in Transportation Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University Presented at ITS-NY Twenty-first Annual Meeting Saratoga Springs, NY June 13, 2014

  2. Evolution of AHS Concept • AHS Studies by FHWA in late 70’s and mid 90’s 2007 2005 2004

  3. 2005 2007 Link to Presentation Old House Not Easy 2005 2007

  4. The DARPA Grand ChallengesDefense Advanced Research Projects Agency • DARPA Grand ChallengeCreated in response to a Congressional and DoD mandate: a field test intended to accelerate research and development in autonomous ground vehicles that will help save American lives on the battlefield.  The Grand Challenge brings together individuals and organizations from industry, the R&D community, government, the armed services, academia, students, backyard inventors, and automotive enthusiasts in the pursuit of a technological challenge. • The First Grand Challenge:  Across the Mojave, March 2004Across the Mojave from Barstow, California to Primm, Nevada :$1 million prize.  From the qualifying round at the California Speedway, 15 finalists emerged to attempt the Grand Challenge.  The prize went unclaimed as no vehicles were able to complete more than 7.4 miles. • The 2005 Grand ChallengeMulti-step qualification process: Site Visits, NQE – Semifinals, GC final event 132 miles through the Nevada desert. Course supplied as list of GPS waypoints. October 8, 2005 in the desert near Primm, NV.  Prize $2 million.  • The 2007 Urban ChallengeNov. 2007; 60 miles in an urban environment. Lane keeping, passing, stop-signs, K-turns “driving down Nassau Street”. Range of Prizes

  5. Prospect Eleven & 2005 Competition

  6. the making of a monster

  7. 2005 Grand Challenge

  8. Objective • Enrich the academic experience of the students Constraints • Very little budget Guiding Principles • Simplicity

  9. Homemade “Unlike the fancy “drive by wire” system employed by Stanford and VW, Princeton’s students built a homemade set of gears to drive their pickup. I could see from the electronics textbook they were using that they were learning as they went.” http://www.pcmag.com/slideshow_viewer/0,1205,l=&s=1489&a=161569&po=2,00.asp

  10. Fall 2004

  11. Fall 2005

  12. It wasn’t so easy…

  13. Pimp My Ride (a video presentation)

  14. Our Journey to the 2005 Grand Challenge Video Flat road 195 entries Video Fixing one line Return to Mojave Run: 2005 course BB; 2004 course Video Submission March, 2005 118 teams Video Summary Movie 3 weeks later Site Visit May, 2005 40 semi-finalists Video NQE 5th Run Video Launch Semifinals September, 2005 Video After 8 miles 9 alternate semi-finalists 10th Seed of 23 finalists Final Event October 3, 2005 2nd Site Visit August, 2005 3 additional semi-finalists Complete 9.5 miles Autonomously

  15. Link to GPS Tracks

  16. Achievements in the 2005

  17. Participation in the 2007

  18. 2007 Semifinalist in the 2007 DARPA Urban Challenge Stereo and Monocular cameras, along with RADAR Homebrewed State Estimation system

  19. Prospect12_TestRun

  20. Today.. Continuing to work on Prospect 12 Vision remains our focus for depth mapping, object recognition and tracking Objective is to pass NJ Driver’s Test.

  21. Discussion! Thank You alaink@princeton.edu www.SmartDrivingCar.com

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