A Study on Tesla Autopilot

Home , Lane centering, Tesla Autopilot, Tesla Model S

INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689 Issue 171, Volume 71, Number 01, May 2020

K. Nived Maanyu1, D Goutham Raj2, R Vamsi Krishna3, Dr. Shruthi Bhargava Choubey4

Dept. of ECE, Sreenidhi Institute of Science And Technology, Hyderabad, India

Abstract— Tesla Autopilot may well be a refined driver- Enhanced Autopilot has the following partial self- assistance system feature offered by Tesla that has lane driving abilities: automatically change lanes without centering, adaptative controller, self-parking, the power to requiring driver input, the transition from one freeway to mechanically modification lanes, and jointly the flexibleness to another, exit the freeway when your destination is near and summon the automobile to and from a garage or parking spot. more.[21] As an upgrade to the base Autopilot's capabilities, the company's stated intent is to offer full self-driving (FSD) at a Autopilot for HW2 cars came in February 2017. It future time, acknowledging that legal, regulatory, and technical enclosed an adaptative controller, autosteer on divided [1] hurdles must be overcome to achieve this goal. highways, autosteer on 'local roads’ up to a speed of 35 I. INTRODUCTION mph or a specified number of mph over the local speed limit to a maximum of 45 mph.[22] Firmware version 8.1 Autopilot was 1st offered on Oct nine, 2014, for Tesla for HW2 arrived in June 2017 adding a new driving-assist Model S, followed by the Model X upon its release.[3] algorithm, full-speed braking and handling parallel and Autopilot was included within a "Tech Package" option. perpendicular parking.[23] At that point, Autopilot options enclosed semi- Later releases offered electric sander lane-keeping and autonomous drive and parking capabilities.[4][5][6] fewer jerky acceleration and slowing. HW 2.5 was released Initial versions of Autopilot were developed in in July 2017, appearing in cars built from August 2017.[24] partnership with Israeli company Mobileye.[10] Tesla and In Apr 2019, Tesla started emotional associate update Mobileye ended their partnership in July 2016.[7][8] to Navigate on Autopilot, that doesn't need lane The computer code sanctionative Autopilot for the modification confirmation however will need the motive primary time for patrons was discharged in the period 2015 force to own hands on the steering wheel.[25] as a part of Tesla's version seven.0.[9] Software version 7.1 The car will navigate freeway interchanges on its own, then removed some options to discourage customers from but the driver needs to supervise. partaking in risky behavior and accessorial Summon remote parking technology which will move the automobile The ability is on the market to those that have forward and back below remote human management while purchased increased Autopilot or Full Self-Driving not a driver in the car.[10][11][12] Capability. On August cardinal, 2016, Elon Musk announced In May 2019, Tesla provided an updated Autopilot in Autopilot 8.0, which processes radar signals to create a Europe, to face new UN/ECE R79 regulation related to coarse point cloud similar to Lidar to help navigate in low Automatically commanded steering function[26][27]. visibility and even to 'see' in front of the car ahead.[13][14] Driving features: Autopilot Version 8 uses radar as the primary sensor Tesla needs operators to observe the vehicle in the least instead of the camera.[15] In November 2016, Autopilot 8.0 times, even as the Federal Aviation Administration needs was updated to have a lot of noticeable signals to the pilots to observe craft on autopilot. motive force that it's partaking and it needs drivers to touch the handwheel a lot of oftentimes.[17][18] By November Autopilot includes multiple capabilities, as well as 2016, adaptative control, lane centering and lane departure warning. Autopilot had operated actively on hardware version 1 vehicle for 300 million miles (500 million km) and 1.3 • Software updates billion miles (2 billion km) in shadow mode.[19] Autopilot-enabled cars receive Autopilot software In Oct 2016, Tesla same all vehicles came with the package updates wirelessly, an equivalent as all different required sensing and computing hardware, called Hardware Tesla software package updates. version a pair of (HW2), for future full self-driving.[20] • Adaptive cruise control Tesla began to use the term "Enhanced Autopilot" to ask hardware a pair of capabilities over hardware one. www.ijspr.com IJSPR | 18 INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689 Issue 171, Volume 71, Number 01, May 2020

Autopilot has the power to follow another automotive, It is enabled at any speed between eighteen mph and ninety maintaining a secure distance from it because it races and mph. slows down. By default, it sets the limit at the present ordinance It will observe a second vehicle before the vehicle that it's plus/minus any driver-specified offset, then adjusting speed following similarly as differentiate between pedestrians, consistent with changes in speed limits. bicyclists/motorcyclists, small cars, and large SUVs/trucks. It also slows on tight curves, on interstate ramps, and when a car crosses the road in front of it.

Function specifications (pending incremental updates and regulatory approvals)

2016 Enhanced 2019 Full Self-Driving 2014 Autopilot Autopilot/Full Self- 2019 Autopilot Capability Functions Driving Capability Hardware 2 & 2.5 & Hardware 1 Hardware 2 & 2.5 Hardware 3.0 3.0

Hands-on feature with limited Yes, except when Yes, except when Hands-Free On- driver wants to change Yes[33] driver wants to Yes[38] Ramp to Off- lane.[37] change lane.[38] Ramp for limited- access roads

TACC-Traffic- Aware Cruise Control Yes[39] Yes[33] Yes[38] Yes[38] (Smart/Adaptive Cruise Control)

Max speed 90 mph (150 km/h)[40] 90 mph (150 km/h)[41] 90 mph (150 km/h)[41] 90 mph (150 km/h)[41]

Yes, and in the future: Autosteer Yes[39] tighter, more complex Yes[38] Yes[38] roads[33]

With confirmation: Driver initiates the lane changing signal when No. Autosteer would Auto Lane the traffic is safe (due be disabled with a Yes.[28] Yes.[28] Change to ultrasonic 16 foot manual lane limited range change.[38] capability) then the system does the rest.[42]

Automatic Manually by using turn Highway Yes[33] No. Manually only.[38] Yes[38] signal[43] Interchanges

Navigate On Autopilot from No. This function No Yes[44] Yes[38] On-ramp to Off- costs extra.[38] ramp

Autopark: Parallel [39] [33] [38] Yes Yes No. This function Yes and Perpendicular

www.ijspr.com IJSPR | 19 INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689 Issue 171, Volume 71, Number 01, May 2020

Parking costs extra.[38]

Lane Departure Yes. As Standard Yes. As Standard Yes. As Standard Yes. As Standard Warning Option.[48] Option[49] Option[50] Option[50]

Traffic Lights and Yes: Expected feature Stop Signs No. This function No No release by end of Recognition and costs extra.[38] 2019[38] Response

Automatic Yes: Expected feature No. This function Driving on City No No release by end of costs extra.[38] Streets 2019[38]

In future: Yes, with an additional fee for Full Self-Driving Capability. The Tesla car will be able to drive itself, automatically recharge Still "Yes" for unknown Full Self-Driving No. This function No[39] at "cable bot"-equipped future activation as Capability costs extra.[38] Superchargers and can described in 2016.[38] use Parking Seek to find a parking space all without a driver.[33] Hardware needs to be upgraded to Hardware 3.0.[51]

Configuration settings management most distance, side clearance, and bumper clearance. • Alerts This feature activates Homelink to open and shut garage Autopilot alerts the driving force underneath numerous doors and it's obtainable exploitation the fob or the Tesla circumstances, like a shocking scenario on the road or mobile app. excessive basic cognitive process by the driving force. As of March 2017, Summon was available in "beta" for If the driving force dismisses 3 audio warnings among the HW2. associate hour, Autopilot is disabled till the automotive is the place. Controls include bumper, side clearance and summon distance. This is to stop full-fledged drivers from excessive reliance on intrinsical safety options. • Autosteer At speeds underneath eight mph on divided highways, Autosteer steers the automotive to stay in no matter lane Autopilot functions indefinitely while not the driver's it's in (known as lane-keeping). hands on the wheel. With HW1, it's additionally ready to safely modification Under forty {five} mph free hands area unit allowed for lanes as directed by a faucet of the turn indicator. five minutes unless the car detects lateral acceleration. As of May 2017, HW2 is limited to 90 mph (145 km/h) on Above forty five mph free hands area unit allowed for 3 highway roads and the former 35 mph (56 km/h) speed minutes if following another vehicle or one minute while limit on non-highway roads was removed, not following an automotive. instead of limiting to 5 over the ordinance or forty-five • Autopark/Summon mph (72 km/h) if no ordinance is detected. Autopark drives the automotive into a parking spot, • Safety features whereas Summon drives it out.

www.ijspr.com IJSPR | 20 INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689 Issue 171, Volume 71, Number 01, May 2020

The Autopilot will find a possible front or aspect collision • Navigate on Autopilot with another vehicle, bicycle or pedestrian within a A feature of HW2] vehicles with Enhanced Autopilot distance of 525 feet (160 m) if one is found it sounds a (moved to Full-Self Driving in early 2019), allows the warning. vehicle to do automatic lane changes, move to a more Autopilot has automatic emergency braking that detects appropriate lane based on speed, exit freeway, and objects that will hit the automotive and applies the brakes. navigate freeway interchanges. Originally in October 2018, the feature required driver confirmation, but later in The automotive can also mechanically April 2019, an automatic option was added. Serve out of them thanks to stopping fast-paced collisions. Autopilot can also mechanically alter the high/low beam headlights because of the nighttime lighting changes or if an automotive is detected within the high beams. • Speed assist Front-facing cameras find ordinance signs on AP1 vehicles and show the present limit on the dashboard or center show. Limits area unit compared against GPS information if no signs area unit gift or if a vehicle is AP a pair of.0 or AP 2.5.

Hardware specifications

Hardware Hardware 1 Hardware 2[33] Hardware 3

October 2016 Enhanced August 2017 April 2019 Full Self Date & Naming 2014 Autopilot Autopilot Hardware Hardware 2.5 (HW Driving computer (FSD) 2.0[a] 2.5)[b]

Computers

NVIDIA DRIVE PX 2 Drive PX 2 with FSD with two Tesla- Platform MobilEye EyeQ3[35] AI computing secondary node designed processors. platform[36] enabled.[27]

Sensors

Forward Radar 160 m (525 ft) 170 m (558 ft)

Front / Side Camera N/A RCCC RCCB Color Filter Array

1 monochrome with  Narrow (35°): 250 m (820 ft) Forward Cameras unknown range  Main (50°): 150 m (490 ft)

 Wide (120°): 60 m (195 ft)

Forward Looking Side  Left (90°): 80 m (260 ft) N/A Cameras  Right (90°): 80 m (260 ft)

Rearward Looking  Left: 100 m (330 ft) N/A Side Cameras  Right: 100 m (330 ft)

www.ijspr.com IJSPR | 21 INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689 Issue 171, Volume 71, Number 01, May 2020

For human use, not Rear View Camera 50 m (165 ft) for automation use

12 surrounding with Sonars 12 surrounding with 8 m (26 ft) range 5 m (16 ft) range

II. CONCLUSION [9] Gitlin, Jonathan M. (2016-09-15). "Mobileye spills the beans: Tesla was dropped because of safety concerns". Ars Tesla Motors warns that Tesla Model S and Model X Technica. Retrieved 2016-11-14. needs drivers to stay engaged and aware once AutoSteer is enabled. [10] Nelson, Gabe (2015-10-14). "Tesla beams down 'autopilot' mode to Model S". Automotive News. Retrieved 2015-10- Drivers must keep their hands on the steering wheel, as 19. they claim it hasn’t yet reached full autonomy. Consumer- [11] "Enhancing Safety and Convenience with Summon". Tesla report experts believe that these 2 messages—your vehicle Motors. 2016-02-08. Retrieved 2016-04-18. will drive itself, however, you will have to be compelled to [12] Zhang, Benjamin (2016-01-10). "ELON MUSK: In 2 years take over the controls at a moment’s notice—create the your Tesla will be able to drive from New York to LA and potential for driver confusion. Following a find you". Automotive News. Retrieved 2016-01-12. series of crashes, one of which -the Florida crash-was fatal, [13] "Autopilot - Summon". Tesla Motors – via Vimeo. has prompted investigations by the National Highway Transportation and Safety Association [NHTSA]and the [14] Tesla to publish details of v8.0 with ―Major improvements to Autopilot‖ later today August 31, 2016 National Transportation Safety Board [NTSB][11]. [15] "Elon Musk explains Tesla Autopilot's new capacity to see As of now, Tesla claimed the crash occurred because of ahead of the car in front of you". Electrek. Retrieved 2016- unskillfulness of the Mobileye Q3processor, to that 09-11. Mobileye terminated their collaboration with Tesla [16] Analyst: Tesla Autopilot's Switch From Camera To Radar Motors, however, they're going to continue providing Bad News For Mobileye Benzinga, Retrieved 2016-09-12 technical assistance to Autopilot with no further development. [17] Tesla’s Autopilot Vindicated With 40% Drop in Crashes Bloomberg, January 19, 2017 REFERENCES [18] "Automated Flight Controls" (PDF). Federal Aviation [1] Golson, Jordan; Bohn, Dieter (2016-10-19). "All new Tesla Administration. Retrieved 2014-02-20. While the autopilot cars now have hardware for 'full self-driving capabilities'". relieves you from manually manipulating the flight controls, The Verge. Retrieved 2016-10-22. you must maintain vigilance over the system to ensure that it [2] Ohnsman, Alan (2013-05-08). "Tesla CEO Talking With performs the intended functions and the aircraft remains Google About 'Autopilot' Systems". Retrieved 2019-06-28. within acceptable parameters of altitudes, airspeeds, and airspace limits. [3] Lambert, Fred (2016-11-10). "Tesla orders 3rd-party survey to prove owners understand 'Autopilot', 98% say they do". [19] Lambert, Fred (2016-11-13). "Tesla has now 1.3 billion Electrek. Retrieved 2016-11-13. miles of Autopilot data going into its new self-driving program". Electrek. Retrieved 2016-11-13. [4] "Riding shotgun in Tesla's fastest car ever". Engadget. 2014- 10-09. Retrieved 2014-10-10. [20] "Autopilot: Full Self-Driving Hardware on All Cars". Tesla Motors. Retrieved 2016-10-21. [5] "Tesla D is, as expected, an AWD Model S but new autopilot features surprise". AutoblogGreen. Retrieved [21] Gene (2016-10-20). "Tesla to roll out 'Enhanced Autopilot' 2014-10-10. that uses new self-driving 'Hardware 2'". TESLARATI. Retrieved 2019-05-15. [6] White, Joseph B. (2014-10-10). "Tesla Aims to Leapfrog Rivals". The Wall Street Journal. Retrieved 2015-03-21. [22] Lambert, Fred (2017-02-15). "Tesla enables Autosteer on 'local roads' for new Enhanced Autopilot vehicles". Electrek. [7] Howell, Donna (2015-08-17). "Tesla, Mobileye Rev Up on Retrieved 2017-02-23. Future of Self-Driving Car". Investors.com. Retrieved 2015- 12-16. [23] "First look at Tesla's latest Autopilot 2.0 'smooth as silk' update [Video]". Retrieved 2017-06-14. [8] Bhuiyan, Johana (2016-07-26). "In the wake of a fatal crash, Tesla will quit using Mobileye's chips for Autopilot vision". [24] Lambert, Frederic (August 9, 2017). "Tesla has a new ReCode. Retrieved 2016-07-26. Autopilot '2.5' hardware suite with more computing power for autonomous driving". electrek.co. Retrieved 15 February 2018. www.ijspr.com IJSPR | 22 INTERNATIONAL JOURNAL OF SCIENTIFIC PROGRESS AND RESEARCH (IJSPR) ISSN: 2349-4689 Issue 171, Volume 71, Number 01, May 2020

[25] "Introducing a More Seamless Navigate on Autopilot". www.tesla.com. 2019-04-03. Retrieved 2019-04-03. [26] https://www.engadget.com/2019/05/17/tesla-updates- autopilot-europe/?guccounter=1

[27] https://www.unece.org/fileadmin/DAM/trans/main/wp29/wp 29regs/2018/R079r4e.pdf