1. CS 402 Intelligent Transportation Systems: Automated Highways, Autonomous Vehicles & Personal Rapid Transit Intelligent Transportation Systems: Automated Highways, Autonomous Vehicles & Personal Rapid Transit By Alain L. Kornhauser Professor, Operations Research & Financial Engineering Director, Transportation Program Faculty Advisor, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University By Alain L. Kornhauser Professor, Operations Research & Financial Engineering Director, Transportation Program Faculty Advisor, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University October 11, 2010

2. CS 402 Intelligent Transportation Systems Coined by Fed DoT in early ‘90s to include: –ATMS (Adv. Transp. Management Systems) Intelligent Traffic Control Systems and Value Pricing Systems ( EZ Pass mid 80s)EZ Pass –ATIS (Adv. Transp. Information Systems) Turn-by-Turn GPS Route Guidance Systems (‘97 CoPilot Live)‘97 CoPilot Live –AHS (Automated Highway Systems) (R.Fenton ‘62 OSU, Sarnoff mid 60s) Autonomous vehicles –ATS (Automated Transit Systems) Personal Rapid Transit (Ficter ‘68, W. Alden ’71, WWU ‘75 ) –ARTS (Adv. Rural Transp. Systems) Need something for the rest of the country

3. CS 402 Intelligence (aka Automation) in the current Automobile MICROPROCESSORS ECU- controls engine functions F1 videoECUvideo –1 st spark timing module in ‘77 Olds Toronado Cruise Control Module- Regulates speed while in cruise control –Intelligent Cruise control (1 st into: Toyota ‘97; 1 st US ‘00 Lexus) ABS Module- controls anti-lock brakes and may handle the traction-control and stability-control systems (1 st ‘71 Imperial; 1 st 4 wheel electronic: MB ’78) Traction Control (1 st ‘71 Buick) Airbag Module- controls airbag deployment Body Controller- controls interior lights, door locks, windows, seats, etc Driver's Door Module- communicates commands from switches on drivers door to the body controller Climate Control Module- Monitors interior temperature and controls the heating and cooling systems Transmission Controller- controls automatic transmission Power Distribution Box Module- controls relays in the power distribution box Instrument Panel- Controls gauges, and indicator lights using data from the communications bus

4. CS 402 Intelligence (aka Automation) in the current Automobile Self-parking systems video (1 st version Toyota ’03; US ‘06)systemsvideo Lane Departure Warning SystemsSystems –AutoVue LDWS; Iteris YouTube 1AutoVueIteris1 Frontal Impact Warning Systems Volvo video Volvo video What’s Next: Lateral & Longitudinal Control Transit: Personal Rapid Transit (Network of autonomous vehicles providing non-stop Origin2Destination service) Consumer: Automated Highways and Autonomous Vehicles

5. CS 402 Basically: Problem is “simple” –Feasible region is a flat plane with boundaries. “Challenge” is to properly identify the boundaries. Longitudinal and Lateral control problems: – Have velocity vector be Tangent to a centerline between feasible lateral boundaries

6. CS 402 Focus on Automated Control Systems –for Automated Transit Systems (Personal Rapid Transit) extensive research on control and management systems for large fleets of vehicles area-wide network design for large-scale implementations –state-wide PRT –for Automated Highways participation in DARAP Autonomous Vehicle Challenges –focus on stereo vision-based systems for local environment sensing »dynamic depth mapping, object identification and tracking, road edge identification. –robust control in the presence of substantial uncertainty and noise

7. PRT (Personal Rapid Transit) Fundamental Elements: –Off-line stations Boarding, Alighting process does not impede bypass flows Average speed ~ Top Speed; Top speed need not be high –Guideway is Passive wrt Branching Headway limited only by collision avoidance –with other vehicles not guideway branching mechanism »1 sec headway possible –Vehicles need not be large Demand is very spatially and temporally distributed even during peaks Fleet having capacities varying between 3-6 passengers. –New Jersey State-Wide System Designed by ORF 467 F04/5 – F10/11 + again this year Objective: 95% O/D within 5 minute walk Morgantown 1975 Video1Video1 Video2Video2 Morgantown 1975 Video1Video1 Video2Video2 Taxi2000 Video

8. CS 402 Early 70s Orly Airport Laser-range headway control; 30cm separation Early 70s Orly Airport Laser-range headway control; 30cm separation

9. CS 402 PRT@LHR Sept. 2010 Battery powered ULTra System

10. Off-line station with 2 berths Off-line station with 2 berths Video

11. Recharging “Shoe” Vehicles are battery powered; recharged in stations Recharging “Shoe” Vehicles are battery powered; recharged in stations

12. Central Control Room 2 cameras in each vehicle as well as everywhere else Central Control Room 2 cameras in each vehicle as well as everywhere else Bath, UK Delhi, India

13. PRT in Masdar City, Abu Dhabi Video

14. PRT in Masdar City, Abu Dhabi YouTube

15. CS 402 From: the Paved State Back to: the Garden State Mobility without Highways for New Jersey

16. CS 402 Background I’ve been dabbling in PRT for over 35 years In many ways, I’m very disappointed in our lack of progress: –A long time ago: Exec. Director of APTA said: “Alain: PRT is the transportation system of the future… And Always will be!!!” But we have made progress: –Morgantown has proven that it can be done –APMs are a standard of every modern airport –Automation and computer controls have become ubiquitous, reliable and cheap –There is broad movement towards energy independence and alternatives to the petroleum economy

17. CS 402 So… Premise: –NJ in 2010 is very different from NJ in 1910 A look at what might be NJ’s Mobility in 2110 (or before)

18. CS 402 Looking Back In the beginning, it takes a while let’s look at the automobile: Daimler, 1888

19. CS 402 Central Ave. Caldwell NJ c. 1908

20. CS 402

21. Bloomfield Ave. & Academy Rd. c. 1908 Before it was paved

22. CS 402 Muddy Bloomfield Ave. c. 1908

23. CS 402 September 16, 2008 Muddy Main St. (Rt. 38) Locke, NY. c. 1907

24. CS 402 September 16, 2008 Automobile Congestion 1968 - present Finally:

25. CS 402 Starting to Look Forward Daimler, 1888 Morgantown, 1973

26. CS 402 So… 1888 1973 1908 1988 2073

27. CS 402 http://orfe.princeton.edu/~alaink/PRT_Of467F07/PRT_NJ_Orf467F07_FinalReport.pdf

28. CS 402 PRT as the Dominant Mode. What would it take? Had my undergrad Transportation Systems Analysis class (Orf 467) looking at this for each of the past 3 years Def. “Dominant Mode”: Serve >90% of all intra NJ trips + access to existing mass transit serving NYC and Phila Def. “Serve”: Less than 5 minute walk to a station; stations all interconnected; all existing rail mass transit connected/

29. CS 402 Middlesex County

30. CS 402 Sussex County

31. CS 402 Union County

32. CS 402 November 30, 2010 Number of Stations by County & Main Trip End CountyTranspSchoolHomeRecreOfficeIndustryPublicShopReligiousMultiUseOtherTOTAL Atlantic - 17 - 1 18 114 8 - 3 30 - 191 Bergen 28 217 394 47 81 37 15 32 17 249 - 1,117 Burlington 1 69 24 52 188 76 40 54 2 85 6 597 Cape May 11 30 173 46 17 217 38 18 47 351 28 976 Cumberland 2 37 106 7 68 86 24 27 2 78 - 437 Essex 18 30 102 237 9 9 15 92 - 83 - 595 Gloucester 2 103 192 9 20 9 3 13 6 55 - 412 Hudson 7 37 58 154 12 15 7 113 - 64 - 467 Hunterdon 2 39 107 26 21 34 25 44 9 78 20 405 Mercer 5 85 43 18 89 22 21 28 7 89 6 413 Middlesex 11 15 224 16 15 88 - 2 - 70 3 444 Monmouth 31 25 75 27 62 6 8 10 19 66 6 335 Morris 14 125 408 55 50 12 16 20 127 15 858 Ocean 11 105 55 60 76 69 52 56 - 42 14 540 Passaic 38 152 285 110 104 65 38 57 71 262 3 1,185 Salem 4 26 45 5 73 27 13 24 1 67 - 285 Somerset 7 39 330 19 31 10 2 23 6 94 7 568 Sussex 3 56 74 68 51 41 16 38 4 37 21 409 Union 16 48 99 112 91 26 45 57 - 83 - 577 Warren 11 42 217 45 55 32 28 20 1 22 11 484 TOALS 222 1,297 3,011 1,114 1,131 995 414 724 215 2,032 140 11,295

33. CS 402 November 30, 2010 CountyStationsMilesCountyStationsMiles Atlantic191526Middlesex444679 Bergen1,117878Monmouth335565 Burlington597488Morris858694 Camden482355Ocean5401,166 Cape May976497Passaic11851,360 Cumberland4371,009Salem285772 Essex595295Somerset568433 Gloucester412435Sussex409764 Hudson467122Union577254 Hunterdon405483Warren484437 Mercer413403Total11,29512,261

34. CS 402 November 30, 2010 Bottom Line ElementValue PRT Trips per day (90%)26.51M Peak hour trips (15%)3.98M Fleet size530K Fleet Cost $B$53B @ $100K/vehicle Stations11,295 Station Cost$28B @ $2M/Station Guideway12,265 miles Guideway Cost$61B @ $5M/mile Total Capital Cost$143B

35. CS 402 Conclusions It’s a lot It does a lot It’s one design focused on existing land use / mobility patterns We should be able to do better

36. CS 402 Automated Highways

37. 20052007 Link to Presentation Not Easy20072005 Old House

38. CS 402 The DARPA Grand Challenges Defense Advanced Research Projects Agency DARPA Grand Challenge Created 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 2004 Across 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 Challenge Multi-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 Challenge Nov. 2007; 60 miles in an urban environment. Lane keeping, passing, stop-signs, K-turns “driving down Nassau Street”. Range of Prizes

39. CS 402 Prospect Eleven & 2005 Competition

40. CS 402 November 30, 2010 the making of a monster

41. CS 402 2005 Grand Challenge

42. CS 402 Constraints Very little budget Simplicity Guiding Principles Objective Enrich the academic experience of the students

43. CS 402 http://www.pcmag.com/slideshow_viewer/0,1205,l=&s=1489&a=161569&po=2,00.asp 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.”

44. CS 402 Fall 2004

45. CS 402 November 30, 2010

46. CS 402 Fall 2005

47. CS 402 November 30, 2010

48. CS 402 It wasn’t so easy…

49. CS 402 Pimp My Ride (a video presentation)

50. CS 402 Our Journey to the 2005 Grand Challenge Video Submission March, 2005 Site Visit May, 2005 2 nd Site Visit August, 2005 Semifinals September, 2005 Final Event October 3, 2005 118 teams 40 semi-finalists 10 th Seed of 23 finalists 9 alternate semi-finalists 3 additional semi-finalists 195 entries Complete 9.5 miles Autonomously Return to Mojave Run: 2005 course BB; 2004 course 3 weeks later Video NQE 5 th Run Video NQE 5 th Run Video After 8 miles Video Launch Video Video Fixing one line Video Video Fixing one line Video Video Flat road Video Video Flat road Video Video Summary Movie Video Video Summary Movie

51. CS 402 Link to GPS Tracks

52. CS 402 AchievementsAchievements in the 2005

53. CS 402 Participation in the 2007

54. CS 402 The 2007 DARPA Urban Challenge Complete 60 miles of autonomous driving in under 6 hours. Navigate within a complex urban & suburban environment – handling GPS outages. Stop signs, parking lots, passing, merging into traffic. Link to a sample layout

55. CS 402 Fall 2007

56. CS 402 Spring 2007

57. CS 402

58. 2007 Semifinalist in the 2007 DARPA Urban Challenge Stereo and Monocular cameras, along with RADAR Homebrew State Estimation system

59. CS 402 Prospect12_TestRun

60. CS 402 Substrate Cognition ActuationPerception Environment

61. CS 402 Perception

62. CS 402 Monocular VISION

63. CS 402 Lane DETECTION

64. CS 402 Lane DETECTION

65. CS 402 Stereo VISION

66. CS 402 Obstacle DETECTION

67. CS 402 Obstacle DETECTION

68. CS 402 Precision GPS MEMS IMU

69. CS 402 Sensor FUSION

70. CS 402 Cognition

71. CS 402 Global and Local NAVIGATION

72. CS 402 Actuation

73. CS 402 Home-brewed ELECTRONICS

74. CS 402 Mechanical ACTUATORS

75. CS 402 Substrate

76. CS 402 dual-core PROCESSING

77. CS 402 Microsoft ROBOTICS STUDIO Was a mistake Now switched to thread safe Windows with C++