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 Lab Achieved speeds of 20 mph on a dedicated street, by tracking special white markers on the road. 1977 – Tsukuba Mechanical Engineering Lab Achieved 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 Munchen A vision-guided Mercedes-Benz van achieved 60 mph on streets without any other traffic present. 1980’s – Ernst Dickmanns at Bundeswehr Universitat Munchen A 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 Munchen S-Class Mercedes-Benz achieved speeds of 110 mph on a 1000 mile trip. 1995 - Ernst Dickmanns at Bundeswehr Universitat Munchen S-Class Mercedes-Benz achieved speeds of 110 mph on a 1000 mile trip. Achieved 95% autonomous driving Achieved 95% autonomous driving

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

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

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

9. 2005 Grand Challenge October 8, 2005 October 8, 2005 Mojave Desert Mojave Desert 132 Miles (212.4 km) 132 Miles (212.4 km) 5 Autonomous Vehicles completed the course! 5 Autonomous Vehicles completed the course! Winner: Stanley from Stanford University Winner: Stanley from Stanford University Finished in 6 hours and 54 minutes. Averaged 19 mph on the course. Finished in 6 hours and 54 minutes. Averaged 19 mph on the course.

10. Stanley – Stanford Racing Team

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

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

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

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

15. AI Case Study - Stanley Powered by seven Pentium M computers with battery power system. Powered by seven Pentium M computers with battery power system. Sensors: 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) Actuator: Drive-by-wire system developed by Volkswagen (Steering, brake, and throttle actuators)

16. Stanley Navigating Video

18. Sample tracking visualization from on-board computer

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

21. DARPA Urban Challenge DARPA Urban Challenge November 3, 2007 November 3, 2007 60 miles 60 miles Urban area course Urban area course Must be completed in less than 6 hours Must be completed in less than 6 hours Must obey all traffic regulations, negotiate with other traffic, and merge into traffic. Must obey all traffic regulations, negotiate with other traffic, and merge into traffic.

22. Urban Challenge Basic Rules Vehicle must be stock or have a documented safety record. Vehicle must be stock or have a documented safety record. Vehicle must obey the California state driving laws. Vehicle must obey the California state driving laws. Vehicle must be entirely autonomous, using only GPS and the information it detects with its sensors. Vehicle must be entirely autonomous, using only GPS and the information it detects with its sensors.GPS DARPA will provide the route network 24 hours before the race starts. DARPA will provide the route network 24 hours before the race starts. Vehicles will complete the route by driving between specified checkpoints. 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. 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 may “stop and stare” for at most 10 seconds. Vehicles must operate in rain and fog, with GPS blocked. 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 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. Vehicles must be able to operate in parking areas and perform U-turns as required by the situation.

23. The new challenge… Other agents in the environment Other agents in the environment

24. References http://www.darpa.mil/grandchallenge/index. asp http://www.darpa.mil/grandchallenge/index. asp http://www.darpa.mil/grandchallenge/index. asp http://www.darpa.mil/grandchallenge/index. asp http://en.wikipedia.org/wiki/Darpa_grand_c hallenge http://en.wikipedia.org/wiki/Darpa_grand_c hallenge http://en.wikipedia.org/wiki/Darpa_grand_c hallenge http://en.wikipedia.org/wiki/Darpa_grand_c hallenge http://cs.stanford.edu/group/roadrunner//ol d/technology.html http://cs.stanford.edu/group/roadrunner//ol d/technology.html http://cs.stanford.edu/group/roadrunner//ol d/technology.html http://cs.stanford.edu/group/roadrunner//ol d/technology.html http://www.pbs.org/wgbh/nova/darpa http://www.pbs.org/wgbh/nova/darpa http://www.pbs.org/wgbh/nova/darpa http://www.autonvs.com/technology.html http://www.autonvs.com/technology.html http://www.autonvs.com/technology.html