1. 1 ETSI TC ITS Workshop Intelligent Vehicle….towards automated road Claude Laurgeau claude.laurgeau@mines-paristech.fr Sophia Antipolis 4th February 2009

2. 2 La Jamais Contente ( Never Happy) Paris 1 May 1899 World record : 105,8 km/h Michelin tyres Electrical motor(50KW) Lead-acid battery (80 elements)

3. 3 From horse-drawn carriage to engine car reins of the horse Steering wheel Lateral control Whip and brake crank acceleratoor and footbrake pedal Longitudinal control The coachman becomes a driver … but is man is still present

4. 4 Present world situation : 6*10 9 human beings 1*10 9 vehicles in the world 70*10 6 new vehicles per year 1,2*10 6 fatalities per year Energy consumption Environment impact Safety Mobility - congestion

5. 5 Question Will we have driverless vehicles one the roads one day ?

6. 6 60 To dayIn 2030 ? Electronic signing ….Road is redeable To morrow 60 my vision in 1995)

7. 7 GPS driven on board signaling

8. 8 Demonstration of "On board signing concept" in 2000

9. 9 Speed limit detection on highway

10. 10 RT Maps IV2002 in Versailles Automatic driving demonstration

11. 11 IEEE Intelligent Vehicle Symposium and Demonstration 2002 20-21 June 2002, Versailles, France Demo track : 2 lanes highway with lane markings, 3400m long, curves of 30 to 80 m radii

12. 12 120km/h on the straight road 50km/h on the curved road Over 100 people took a test ride. IEEE Intelligent Vehicle Symposium 2002 Automatic Driving Demo

13. 13 The film begins with a stopped empty car on the side of the road. A man driven similar car overtakes it. The empty car follows the man driven car and seems to be dragged by it. The potential applications of that technology are stop and go platooning. 1997

14. 14 A driverless car overtakes a parked car and locates with its ultra sound sensors a free parking place. The onboard computer elaborates the manoeuvre and automatically parks the car.

15. 15 GPS Vision Radar

16. 16 Enhanced signaling by use of GPS -Vision - Radar-CAN bus data fusion Following a car while approaching an intersection

17. 17 Pedestrian detection and tracking Moving camera on bord the vehicle

18. 18 The fleet of 4 Citroën C3

19. 19 Securing driving at intersection using V2V communication

20. 20 Securing an intersection with I2V communication

21. 21 IR-MR UMTS/GPRS DSRC5.9Ghz Wifi 802.11a/b/g Family Wimax 802.16 Family DAB TPEG Format CALM protocol. architecture (Continuous Air-interface Long and Medium range) T-PEG : Transport Protocol Experts Group IPV6 IPV6 GPSGPS OBU On Board Unit Road Side Unit Zigbee 802.15.4

22. 22 ROAD MAP TO AUTOMATIC DRIVING STEP 1: Longitudinal control with variable speed set point delivered by GPS&GIS (VSC : Variable Speed Control ) STEP 2: Lateral control (ALK :Automatic Lane keeping) Longitudinal and maneuvers assumed by the driver. STEP 3: Fusion of STEP1 and STEP2 with automatic lateral and longitudinal control. The human driver assumes only supervision since we are on a free lane.

23. 23 STEP 4: A second vehicle is added and ACC :Adaptative Cruise Control at high speed is implemented. The driver is in charge of supervision and overtaking maneuvers. STEP 5: Identical to STEP 4 but at low speed which necessitates the stop and go implementation (Stop and Go). The driver is still in charge of supervision and overtaking maneuvers. STEP 6: Identical to STEP 5 but the robot is in charge of overtaking maneuver of the slowest vehicle. The driver is only in charge of supervision. At step 7 we have reached the level of automatic driving on highway but not yet in urban environment.

24. 24 Source: Minalogic Electronics in automobile Past Present To day, 70% of automotive innovation are issued from electronics

25. 25 Question Will we have driverless vehicles one the roads one day ? Yes We can !

26. 26 Happy End

27. 27 Road analysis: detection of lanes, horizontal continuous or discontinuous lines and localization of the car on its lane. The film shows the robustness of the algorithm related to illumination and forks on the highway.