1. Intelligent Autonomous Vehicles J. A. Farrell Department of Electrical Engineering University of California, Riverside

2. Intelligent Autonomous Vehicles Value Judgment Sensor World Behavior Processing Model Generation Sensors Structure Actuators World

3. February 2009UCR EE Department 951-827-2159 Lane change: Interior view

4. Q: Behaviors GT– go to point P US – uninformed search IS– informed search MI– maintain: in MO– maintain: out PD– post-declaration maneuvers  Events f– finish c – detect chemical @t d n 1 – no detection at t = t d + t 1 d– declare source DES: Chemical Plume Tracing Design behaviors Q, event definitions , and transition function  such that an autonomous underwater vehicle (AUV) will Proceed from a home location to a region of operation Search for a chemical plume Track a chemical plume in a turbulent flow to its source Declare the source location Return home

5. Q: Behaviors GT– go to point P US – uninformed search IS– informed search MI– maintain: in MO– maintain: out PD– post-declaration maneuvers  Events f– finish c – detect chemical @t d n 1 – no detection at t = t d + t 1 d– declare source DES: Chemical Plume Tracing Design behaviors Q, event definitions , and transition function  such that an autonomous underwater vehicle (AUV) will Proceed from a home location to a region of operation Search for a chemical plume Track a chemical plume in a turbulent flow to its source Declare the source location Return home

6. CPT In-water Experimental Results (June 2003)

7. AUV for Hull Search Behaviors: velocity & angular rate velocity & attitude trajectory following w/ zero attitude trajectory following w/ nonzero attitude surface following hold position and attitude scan object at offset Sim

8. UCR EE Department 951-827-2159 Guidance: Positioning & GIS

9. UCR EE Department 951-827-2159 Driver Warning Lane Departure Warning & Guidance –Requirement: Accurate position determination relative to lane Collision Warning –Accurate determination of position relative to nearby vehicles Absolute position based –Accurate position determination –Communication between vehicles Relative position based –Feature based: Vision, radar, lidar

10. UCR EE Department 951-827-2159 Project Subgoals Absolute Position Determination –Determines: earth relative position, velocity, acceleration, attitude, angular rates Relative Position Determination –Lane relative –Neighboring vehicle relative Vehicle Control –Determine the steering commands to force the vehicle states to desired values.

12. Enabling Technological Advances Computational Hardware Sensors and Sensor Processing Computational Reasoning Control Theoretic Advances Software Engineering Principles Topics: –Deliberative & reactive planning –Behaviors & nonlinear control –Discrete event & hybrid systems –Theory & practicality: Cognitive mapping

13. Concluding Comments Turing Test: –Optimal –Strong super-human: performs better than all humans –Super human: performs better than most humans –Sub-human: performs worse than most humans Intelligent AV Capabilities, e.g.: –All involve feedback processes, w/ many challenging & unsolved problems –Control expertise has & continues to expand its role, both developing & utilizing new tools, to yield increasingly robust and capable systems The concept of behaviors, combined w/ advanced control methods, enables robust abstraction for higher level IAV performance NavigationControl Data fusionMap building Plan managementLearning