Scribd
Upload
131 views

Autonomous Driving and Intelligent Vehicles: Dirk Langer, PH.D

The document discusses the history of VW's autonomous driving projects starting in 2000 including Robot Klaus for testing, Stanley which won the 2005 DARPA Grand Challenge, and Junior which finished second in the 2007 DARPA Urban Challenge. It also describes the technical challenges of autonomous driving and approaches used for perception, motion planning, and dynamic object tracking.

Uploaded by

ganesh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
131 views

Autonomous Driving and Intelligent Vehicles: Dirk Langer, PH.D

The document discusses the history of VW's autonomous driving projects starting in 2000 including Robot Klaus for testing, Stanley which won the 2005 DARPA Grand Challenge, and Junior which finished second in the 2007 DARPA Urban Challenge. It also describes the technical challenges of autonomous driving and approaches used for perception, motion planning, and dynamic object tracking.

Uploaded by

ganesh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 34

Autonomous Driving and Intelligent Vehicles

Dirk Langer, Ph.D.

VW Autonomous Driving Story


2000

2003

2006

Robot Klaus
Purpose: Replace test
drivers on poor test
tracks (job safety)

Robot Klaus-Dieter
Purpose: Reproducible
testing of stability limit and
vehicle dynamics applications

GTI 53+1
Purpose: Reproducible
testing at stability limit

SAFETY AND TESTING


COMFORT AND DRIVER ASSISTANCE
2005

Stanley
Purpose: Off road of
autonomous driving

Dirk Langer, 5/14/2012

2007

Junior
Purpose: Advanced
testing of driver
assistant systems

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

2008

Paul
Purpose: Parking
without driver in tight
parking spots

2010

Junior 3
Purpose: Autonomous
Valet Parking.

Stanley
Grand Challenge

Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Junior
Urban Challenge

Grand Challenge 2005

! Autonomous Off-Road Driving in 2005 Grand


Challenge
! Finished in first place among 23 contenders

! Autonomous Urban Driving in 2007 Urban


Challenge
! Finished in second place among 89 teams,
11 finalists and one of only 6 teams to
complete the race.
! Next Steps: Extract relevant technologies for
future driver assistance systems

Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Autonomous Driving: Basic Architecture

Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.

Inside Stanley!
GPS
GPS compass
6 Computers

E-stop

5 Lasers
Camera
Radar
Drive by wire

IMU

Screen

Popular Mechanics
Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

2005: Primm, NV

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

The Laser Teaches the camera!

Which pixels outside the laser brick look similar to the pixels inside the brick ?

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Robot Perception: Stanley

Obstacle detection
with laser rangefinders
Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Computer vision-based
road detection

What did we learn from Stanley?


! Incorporate GPS, but
drive with your sensors
! A simple world model will
get you a surprisingly
long way
! Off-road trail driving, not
unstructured off-road
driving
! Driving is a software
problem!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

VW Autonomous Driving Story


2000

2003

2006

Robot Klaus
Purpose: Replace test
drivers on poor test
tracks (job safety)

Robot Klaus-Dieter
Purpose: Reproducible
testing of stability limit and
vehicle dynamics applications

GTI 53+1
Purpose: Reproducible
testing at stability limit

SAFETY AND TESTING


COMFORT AND DRIVER ASSISTANCE
2005

Stanley
Purpose: Off road of
autonomous driving

Dirk Langer, 5/14/2012

2007

Junior
Purpose: Advanced
testing of driver
assistant systems

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

2008

Paul
Purpose: Parking
without driver in tight
parking spots

2010

Junior 3
Purpose: Autonomous
Valet Parking.

Challenge: Motion Planning

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Challenges of Urban Driving


! Moving obstacles
! Hazards 360 degrees
around the vehicle
! Faster closing speeds
! Behavior of other drivers
must be tracked and
predicted

In order for robots to make intelligent driving decisions in


urban environments, they must understand their
environment, not just perceive it
Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Autonomous Driving: Basic Architecture

Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.

Motion Planning!

3 levels of planning
Continuous trajectory planning
Can I fit between those two cars?

Simulated controller

Tactical planning
Which lane should I be in?

Global planning
What route should I take?

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Discrete decision rollouts


and dynamic programming

2007 DARPA Urban Challenge!

60 mile urban race


Moving traffic
Obey California traffic laws
Intersections, merging, passing, traffic
circles, parking, u-turns

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Typical Urban Driving Scene!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Motion Planning

Driving constraints help limit the size of the planning search space

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Motion Planning

Driving constraints help us predict the behavior of other vehicles

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Challenge: Dynamic Object Perception


Raw sensor
data

Obstacle
Detection
Objects above
Ground plane

Segmentation &
Data Association

Static
Objects

Evidence
Grid map

Dynamic
Objects

Dynamic Object
Tracking

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Vehicle positions &


velocities

Occupied
regions

Final Race Location: Victorville,CA

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

World s First Robotic Traffic Jam!

Robots

Robots

Humans

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Robot Fender-Bender!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Oshkosh Remodeling Service!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

What Road Blockage?!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

NQE Area B, Passing


Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

NQE Area B, Cross Divider


Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Lane Change (30mph)!

Mike Montemerlo
Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Final Results

1st: CMU s Boss

2nd: Stanford s Junior

3rd: Virginia Tech s Odin

4h 10min 20sec

4h 29min 28sec

4h 36min 38sec

4th?: MIT s Talos


Mike Montemerlo
Dirk Langer, 5/14/2012

?: Cornell s Skynet

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

?: Penn s Little Ben

VW Autonomous Driving Story


2000

2003

2006

Robot Klaus
Purpose: Replace test
drivers on poor test
tracks (job safety)

Robot Klaus-Dieter
Purpose: Reproducible
testing of stability limit and
vehicle dynamics applications

GTI 53+1
Purpose: Reproducible
testing at stability limit

SAFETY AND TESTING


COMFORT AND DRIVER ASSISTANCE
2005

Stanley
Purpose: Off road of
autonomous driving

Dirk Langer, 5/14/2012

2007

Junior
Purpose: Advanced
testing of driver
assistant systems

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

2008

Paul
Purpose: Parking
without driver in tight
parking spots

2010

Junior 3
Purpose: Autonomous
Valet Parking.

Junior 3!

Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

Autonomous Valet Parking!

Dirk Langer, 5/14/2012

Volkswagen Electronics
Research Laboratory. All
rights reserved.!

You might also like