Autonomous Vehicles - KPIT

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F. Intercontinental Autonomous Challenge The most challenging autonomous car journey was conducted by Parma's VISLAB (Visualization and Intelligent Systems Laboratory) in 2010. The journey was from Parma to Shanghai, and it took 100 days to cover 16,000 kms through nine countries. In Russia, the team gathered a record: 'The first autonomous vehicle which is ticketed by a traffic cop' [7]. We can just have a look at some key characteristics of the vehicle, shown in Fig. 11 that was used for road trip. The sensing system of the vehicle was based on cameras and laser scanners. 5 forward and 2 backward looking cameras were installed on the vehicle. 4 laser scanners with different characteristics were placed around the vehicle. The obstacles and lane markings on the road were located by the forward and backward vision systems. In addition, the laser scanners available in the vehicle were used to detect vehicles in front and other vehicles [3]. The full control of speed and steering of the vehicle is handled via CAN messages, through the x-by-wire equipped in the vehicle. Fig. 12 shows the TopCon steering, which is configured to capture commands from a CAN bus and control the steering. Fig.13 shows the VisLab board to interface the CAN bus with the gas control [3]. Figure 11 Figure 12 Figure 13 Figure11: One of the vehicles used during road trip [3] Figure12: The drive by-wire steering system [3] Figure13: The custom board controlling the engine [3] G. Shelley – An Audi Climbs the Mountain An Audi named Shelley, shown in Fig. 14, could reach summit of Pike's Peak in 27 minutes. The height of the mountain is almost 12.42 miles. The human record for climbing Pike's Peak was 17 minutes and Shelley took 10 minutes more than that. In comparison to the time taken by a steam powered car guided by human being (took more than 9 hours), Shelley's record is outstanding [7]. The Audi is named Shelley in honor of Michèle Mouton. She is an Audi rally driver, who is the first woman who conquered Pikes Peak. The selected model for Shelley is a 2010 TTS. It features a fly-by-wire throttle, cruise control (adaptive), a DSG gearbox (semiautomatic) and other gadgetry [13]. The car is made fully autonomous by using advanced algorithms like Oracle Java real-Time System, Oracle Solaris and GPS [13]. Shelley uses differential GPS to track its location, even if the margin was larger on the mountain. In Shelley, wheel-speed sensors and an accelerometer measure the velocity and gyroscope controls equilibrium and direction [13]. Figure 14: Shelley [13] H. Google Car – The Wonder The autonomous car Toyota Prius hybrid by Google, shown in Fig. 15, has successfully covered 1,40,000 miles with only occasional human intervention since hitting the road in 2010 [8]. Sebastian Thrun led the Google driverless car program. The car successfully navigated San Francisco's Lombard Street, which has eight hair pin turns on one block. Google believes that the technology of car will be improved such that it will be safe, congestion free, and with fewer emissions. The heart of Google’s car system is a laser range finder placed on the roof of the car. In addition, the car carries other sensors, which have: four radars, placed on the front and rear bumpers. The traffic lights are detected by a camera placed near the rear-view mirror. With the help of the available GPS, wheel encoder and inertia measurement unit, Google car could determine the vehicle's location and keep track of its movements [11]. A detailed 3D map of the entire environment is 10 TechTalk@KPIT, Volume 6, Issue 4, 2013
obtained by laser range finder. The car's position is being determined by using data from Google Street View coupled with data from cameras, LIDAR and radar. The car combines the laser measurements with highresolution maps of the world and produce different types of data models that allow it to drive itself by avoiding obstacles and respecting traffic laws [11]. Figure 15: Toyota Prius hybrid [11] IV. Let's Wrap Up By reading through the walkthrough section, we came across different experimentations in the area of research of autonomous vehicles on road. It is really interesting to know the step by step advancements in the research. Researchers from all over the world put so much effort and they could get good results out of that. Stanford has introduced a car, Stanford cart that can race through the Pike's Peak race course. DARPA's grand challenge introduced Sandstorm, Stanley, and Boss, which are three precious stones in the research of autonomous vehicles on road. Vehicles used in VISLAB Intercontinental Autonomous Challenge, could travel almost 16,000 kilometers automatically. Google introduced a car that can drive by itself. By looking at all these advancements, we can say that we are going to reach the destination of implementing autonomous vehicles on road in near future. We can look forward for a world with intelligent and effective autonomous vehicles running on the roads soon. As per my opinion, handling the safety of people sitting in the vehicle automatically is very critical. The vehicles should be so intelligent to avoid accidents on the road. I think the researches, which will be happening near future, will be handing all these critical points. Some of the interesting questions, which are appearing in my mind are, who will become the pioneer in autonomous vehicle exploration field? What can we expect further in this area in the coming 10 – 20 years? How the laws of government handle the accidents caused by autonomous vehicles? One thing is true that people shall not longer worry about obtaining driving licences!!! References [1] Les Earnest, “Standford Cart”, December 2012. Available: http://www.stanford.edu/~learnest/cart.htm [2] Todd Jochem, Dean Pomerleau, Bala Kumar, and Jeremy Armstrong, “PANS: A Portable Navigation Platform”, IEEE Symposium on Intelligent vehicle, September 25-26, 1995, Detroit, Michigan. [3] M. Bertozzi, et al., “The VisLab Intercontinental Autonomous Challenge”,2010. Available: http://www.ce.unipr.it/people/ cattani/publications-pdf/itswc2010.pdf [4] Byron Spice, Anne Watzman, “Carnegie Mellon Tartan Racing Wins $2 Million DARPA Urban Challenge”, 2007. Available: http://www.cmu.edu/news/archive/2007/November /nov4_tartanracingwins.shtml [5] Chuck Squatriglia, “Audi's Robotic Car Climbs Pikes Peak”,2010. Available: http://www.wired.com/autopia/2010/11 /audis-robotic-car-climbs-pikes-peak/ [6] Dennis fassbender, “MarVEye and its control system”, 2007. Available: http://www.unibw.de/lrt8/forschung/ geschichte/marveye [7] Tom Vanderbilt, “Autonomous Cars through the Ages”, 2012. Available: http://www.wired.com/autopia/2012/02/ autonomous-vehicle-history/ [8] Red Team, “Sandstorm”, 2004. Available: http://www.cs.cmu.edu/~red/Red/sandstorm.html [9] San Jose, “Autonomous Volkswagen Touareg ''Stanley,'' First-Ever Winner of the DARPA Grand Challenge”, June 17, 2008. Available: http://www.bloomberg.com/apps/news [10] General Motors, “See the Tahoe Boss, A car that literally drives itself”,2008, Available: http://www.gm.ca/gm/english/ corporate/chevrolet/ton/ne_may08 [11] Erico Guizzo, “How Google's Self-Driving Car Works”, 2011. Available: http://spectrum.ieee.org/automaton /robotics/artificial-intelligence/how-google-self-drivingcar-works/ [12] General Motors, “General Motors demonstrates self-driving Chevrolet Tahoe 'Boss' at consumer electronics show”, 2008. Available: http://www.domain-b.com/companies/ companies_g/General_Motors/20080109_chevrolet_tahoe.html [13] Chuck Squatriglia, “Audi's Robotic Car Drives better than you do”, 2010. Available: http://www.wired.com/autopia/ 2010/03/audi-autonomous-tts-pikes-peak/ [14] Robokingdom LLC, “Autonomous Cars”, 2010. Available: http://www.autonomouscars.com/ [15] Sebastian Thrun, et al., “Stanley: The Robot that Won the DARPA Grand Challenge”, 2006. Available: http://www-robotics.usc.edu/~maja/teaching/cs584/ papers/thrun-stanley05.pdf [16] Diamler, “EUREKA Prometheus Project”, 1987. Available: http://www.fastcompany.com/3010645/ here-come-the-autonomous-cars#2 [17] Alex Forrest and Mustafa Konca, “Autonomous Cars and Society”, 2007. Available: http://www.wpi.edu/Pubs/ E-project/Available/E-project-043007-205701/ unrestricted/IQPOVP06B1.pdf [18] “Self-Driving Cars: The next Revolution”, KMPG report, 2012. TechTalk@KPIT, Volume 6, Issue 4, 2013 511
Page 1 and 2: TechTalk@KPIT a quarterly journal o
Page 3 and 4: Contents Editorial Guest Editorial
Page 5 and 6: Dr. Vinay G. Vaidya CTO KPIT Techno
Page 7 and 8: Journey Without Driver About the Au
Page 9 and 10: A. Stanford Cart - The First Smart
Page 11: autonomous vehicles in 2004. The Gr
Page 15 and 16: To Be or Not To Be... A Driver Abou
Page 17 and 18: When the autonomous vehicle complet
Page 19 and 20: ultrasonic sensors, etc. provide vi
Page 21 and 22: Scientist Profile Sebastian Thrun S
Page 23 and 24: Seeing Through Sensors About the Au
Page 25 and 26: Figure 1: A robotic Volkswagen Pass
Page 27 and 28: Figure 4: Infrared image of a stree
Page 29 and 30: Bringing Vision to Life About the A
Page 31 and 32: Radar needs an attention, there exi
Page 33 and 34: Sr. No. Table 1: List of patents fi
Page 35 and 36: Drive-By-Wire : A KPIT Case Study A
Page 37 and 38: the operational accuracy, it is har
Page 39 and 40: DRIVERS BRAKE HYDRAULIC MOTOR Manua
Page 41 and 42: Wired Through Wireless About the Au
Page 43 and 44: FORWARD OBSTACLE DETECTION AND AVOI
Page 45 and 46: Microcontroller Abstraction Layer (
Page 47 and 48: Autonomous Intelligent Vehicles Aut
Page 49 and 50: Inside Connected Vehicle About the
Page 51 and 52: D. Communications security (COMSEC)
Page 53 and 54: security built-in from the very beg
Page 55 and 56: Gazing Through a Crystal Ball About
Page 57 and 58: Thus, from a passenger acceptance a
Page 59 and 60: About KPIT Technologies Limited KPI

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