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AI and Autonomous Vehicles

AI and Autonomous Vehicles. Daniel Landers COMP- 4640 Intelligent and Interactive Systems 3/10/2007. History of Autonomous Vehicles. 1977 – Tsukuba Mechanical Engineering Lab Achieved speeds of 20 mph on a dedicated street, by tracking special white markers on the road.

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AI and Autonomous Vehicles

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  1. AI and Autonomous Vehicles Daniel Landers COMP- 4640 Intelligent and Interactive Systems 3/10/2007

  2. History of Autonomous Vehicles • 1977 – Tsukuba Mechanical Engineering LabAchieved speeds of 20 mph on a dedicated street, by tracking special white markers on the road.

  3. History of Autonomous Vehicles • 1980’s – Ernst Dickmanns at Bundeswehr Universitat MunchenA vision-guided Mercedes-Benz van achieved 60 mph on streets without any other traffic present.

  4. History of Autonomous Vehicles • 1995 - Ernst Dickmanns at Bundeswehr Universitat MunchenS-Class Mercedes-Benz achieved speeds of 110 mph on a 1000 mile trip. • Achieved 95% autonomous driving

  5. History of Autonomous Vehicles • 1995 – CMU Navlab • Achieved 98.2% autonomous driving on 3000 mile drive across the U.S. • Throttle and brakes controlled by a human

  6. Enter the Darpa Grand Challenge • DARPA – Defense Advanced Research Projects Agency • The U.S. Congress allotted 1 Million Dollars to the winner of the 2004 challenge. • Nobody won! • In 2005, the prize money was upped to 2 million.

  7. It’s a hard problem!!! • What is the Darpa Grand Challenge? • Why they have a qualifier!

  8. 2005 Grand Challenge • October 8, 2005 • Mojave Desert • 132 Miles (212.4 km) • 5 Autonomous Vehicles completed the course! • Winner: Stanley from Stanford University • Finished in 6 hours and 54 minutes. Averaged 19 mph on the course.

  9. Stanley – Stanford Racing Team

  10. The AI Behind It • An Autonomous Vehicle is an autonomous agent. • Consists of: • Sensor Systems • Actuator Systems • Computation Systems

  11. The AI Behind It (cont.) • Sensors – Sense the surrounding environment and report. • Examples: • Vision • Radar • Laser • Vehicle Sensors (Odometer, Fuel Gauge, Oil pressure, Engine Temperature)

  12. The AI Behind It (cont.) • Actuators – Acting upon the environment. • Examples: • Steering • Gas / Throttle • Brakes • Vehicle Starting • Lights • Sirens

  13. The AI Behind It (cont.) • Computation – The brains which process sensor data and apply the correct actuation to achieve the goal. • Tasks: • Processing sensor input • Path planning • Actuator Manipulation

  14. AI Case Study - Stanley • Powered by seven Pentium M computers with battery power system. • Sensors: • GPS • Inertial Measurement Unit • Wheel Speed Sensors • Laser Range Finders • Radar • Stereo Camera Pair / Monocular Vision Systems • Actuator: Drive-by-wire system developed by Volkswagen (Steering, brake, and throttle actuators)

  15. Stanley Navigating Video

  16. Sample tracking visualization from on-board computer

  17. So, since Stanley did so well….. What’s Next?

  18. What’s Next? • DARPA Urban Challenge • November 3, 2007 • 60 miles • Urban area course • Must be completed in less than 6 hours • Must obey all traffic regulations, negotiate with other traffic, and merge into traffic.

  19. Urban Challenge Basic Rules • Vehicle must be stock or have a documented safety record. • Vehicle must obey the California state driving laws. • Vehicle must be entirely autonomous, using only GPS and the information it detects with its sensors. • DARPA will provide the route network 24 hours before the race starts. • Vehicles will complete the route by driving between specified checkpoints. • DARPA will provide a file detailing the order the checkpoints must be driven to 5 minutes before the race start. • Vehicles may “stop and stare” for at most 10 seconds. • Vehicles must operate in rain and fog, with GPS blocked. • Vehicles must avoid collision with vehicles and other objects such as carts, bicycles, traffic barrels, and objects in the environment such as utility poles. • Vehicles must be able to operate in parking areas and perform U-turns as required by the situation.

  20. The new challenge… • Other agents in the environment

  21. References • http://www.darpa.mil/grandchallenge/index.asp • http://en.wikipedia.org/wiki/Darpa_grand_challenge • http://cs.stanford.edu/group/roadrunner//old/technology.html • http://www.pbs.org/wgbh/nova/darpa • http://www.autonvs.com/technology.html

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