Principle Components and Recent Trends of an …• BMW and Continental, they cooperate develop...

Principle Components and Recent Trends of an Unmanned Autonomous

Driving Car

Professor Jungha KimKookmin Unmanned Vehicle research Lab

Definition of Autonomous Driving Car

What is the Autonomous Driving Car?

Looking & Feeling & Listening

Perception & Recognition

Decision & Action(Drive)

Unmanned Ground Vehicle, known as a uncrewed vehicle, driverless car, self-driving car and robotic car.

By oneself, without human input

Levels of Automation (NHTSA)

No-Automation

NHTSA Level 0

Function-

Specific Automation

NHTSA Level 1

LimitedSelf-Driving Automation

NHTSA Level 3

CombinedFunction

Automation

NHTSA Level 2

FullSelf-Driving Automation

NHTSA Level 4

Components of Autonomous Driving Car

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Perception

- LiDAR & Radar & CAMERA Sensors

• Detect an obstacles

• Terrain classification

• Build a Digital Environment

• Localization

Navigation

- GPS & IMU

• Estimate & predict

Current Position

• Localization

• Build a Digital

Environment

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

Pure Pursuit algorithm

• Dynamic Method

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 AreaSTEP 2 Generate Parking PathSTEP 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.

• Google self-driven over 1 million miles and are currently out on the streets of Mountain View, California and Austin, Texas.

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

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 Robby race a Sonoma circuit in north California

• Audi’s Jack driven 560 miles CES 2015

• 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

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/hTotal driving time about 45minutes

Autonomous Driving Car of KUL (2013)

Thank you !