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Principle Components and Recent Trends of an Unmanned Autonomous Driving Car

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Principle Components and Recent Trends of an Unmanned Autonomous Driving Car 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? Unmanned Ground Vehicle, known as a uncrewed vehicle, driverless car, self-driving car and robotic car. Looking & Feeling & Listening Perception & Recognition By oneself, without human input Decision & Action(Drive) Levels of Automation (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 asdad 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 Platoon 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 !.
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