Principle Components and Recent Trends of an Unmanned Autonomous Driving Car

Kookmin Unmanned Vehicle research Lab Professor Jungha Kim Definition of Autonomous Driving Car

What is the Autonomous Driving Car? , known as a , driverless car, self-driving car and robotic car.

Looking & Feeling & Listening

Perception & Recognition By oneself, without human input Decision & Action(Drive) Levels of (NHTSA)

NHTSA Level 0 NHTSA Level 1 NHTSA Level 2 NHTSA Level 3 NHTSA Level 4

Function Combined Limited Full - No-Automation Function Self-Driving Self-Driving Specific Automation Automation Automation Automation Components of Autonomous Driving Car

Perception Navigation - LiDAR & Radar & CAMERA Sensors - GPS & IMU • Detect an obstacles • Estimate & predict • Terrain classification Current Position • Build a Digital Environment • Localization • Localization • Build a Digital Environment

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Vehicle Control • Longitudinal & Lateral control • Vehicle condition estimation • Fail & Safe System Architecture of Autonomous Driving Car

Autonomous Driving Car at KUL Vehicle control & Navigation Navigation

• Holonomic & Non-holonomic Holonomic Definition :: When controllable degrees of freedom(Vehicle) are equal to the total degrees of freedom(Space).

• Geometric Path Tracking Methods • Dynamic Method

Pure Pursuit algorithm Perception & Sensor fusion Perception & Sensor fusion (2) Terrain classification SLAM (Global Map Building) SLAM (Localization)

Map matching SLAM (Map matching for Localization) Path Planning

Path Planning & Simulation of Stanford Univ.

Path Planning of KUL Auto Valet Parking

STEP 1 Searching Parking Area STEP 2 Generate Parking Path STEP 3 Moving Autonomous Driving Car Domestic Research Trends (Hyundai Kia Motors)

• Hyundai Kia Motor’s Driving Car Genesis (2014)

• Hyundai Kia Motor’s Autonomous Driving Car include TJA and HDA. - TJA(Traffic Jam Assist) - HDA(Highway Driving Assist) Domestic Research Trends (Hyundai Kia Motors) International Research Trends (Google)

• In 2009, google started testing self-driving technology with the Toyota Prius on freeways in California.

• In 2012, google began testing with the Lexus RX450h. At this point, google had completed over 300,000 miles of testing on freeways.

• Google self-driven over 1 million miles and are currently out on the streets of Mountain View, California and Austin, Texas. International Research Trends (Mercedes-Benz)

• Introduce Intelligence Driving Car base S500 class (2013)

• Announce Concept Autonomous Driving Car 2015 CES (F015)

• Mercedes Acturus Autonomous Truck driving test on public road (2015) International Research Trends (Mercedes-Benz-1) International Research Trends (Mercedes-Benz-2) International Research Trends (Audi)

• Audi’s Bobby is autonomous driving car RS 7 based that was the first autonomous car to complete a lap at the Hockenheimring track in Germany

• Audi’s Jack driven 560 miles CES 2015

• Audi’s Robby race a Sonoma circuit in north California International Research Trends (Audi) International Research Trends (Tesla)

• Tesla provide auto pilot system through upgrade software of model ‘s’ to 7 version

• This software provide various experience, auto parking, lane keeping, lane change (This program’s cost 2500 dollars)

• Next version, tesla provide auto valet parking system

• Tesla using data from customer’s vehicle International Research Trends (Tesla) International Research Trends (BMW & Continental)

• BMW and Continental, they cooperate develop autonomous driving car

• BMW’s autonomous driving car based 3-series debut TV show (Top gear in England)

• Continental’s autonomous driving car cross the Nevada state (2012) International Research Trends (BMW & Continental) International Research Trends (Nissan & Toyota)

• Nissan demonstrate autonomous driving car in Tokyo motor show (2013)

• Toyota announce ‘mobility teammate concept’ and tested this system (2015) International Research Trends (Nissan & Toyota) International Research Trends (WEpods in Nederland)

• Self Driving Bus in Nederland, WEpods developed based on EZ10 model.

• WEpods fully autonomous driving bus without infrastructure. International Research Trends (WEpods in Nederland) Autonomous Driving Car of KUL (2013)

• We driven on public road at Wando island in South Korea about 40 kilometers (2013)

• We keep the traffic rule, maximum speed is 80km/h Total driving time about 45minutes Autonomous Driving Car of KUL (2013) Thank you !