Autonomous vehicles for safer driving

PT-158

Jurgen Autonomous Vehicles for Safer Driving

Autonomous Vehicles

for Safer Driving

Edited by Ronald K. Jurgen

Autonomous Vehicles for Safer Driving

Edited by Ronald K. Jurgen

Progress In Technology Progress In Technology Series Series

Self-driving cars are no longer in the realm of science

fiction, thanks to the integration of numerous automotive

technologies that have matured over many years.

Technologies such as adaptive cruise control, forward

collision warning, lane departure warning, and V2V/V2I

communications are being merged into one complex system.

The papers in this compendium were carefully selected to

bring the reader up to date on successful demonstrations

of autonomous vehicles, ongoing projects, and what the

future may hold for this technology. It is divided into three

sections: overview, major design and test collaborations, and a

sampling of autonomous vehicle research projects.

This book will be of interest to a wide range of readers:

engineers at automakers and electronic component suppliers;

software engineers; computer systems analysts and architects;

academics and researchers within the electronics, computing,

and automotive industries; legislators, managers, and other

decision-makers in the government highway sector; traffic

safety professionals; and insurance and legal practitioners.

About the editor

After graduating from Rensselaer Polytechnic Institute with

a BEE, Ronald K. Jurgen held various technical magazine

editorial staff positions, including 30 years with IEEE

Spectrum. Now retired, he is the editor of the Automotive

Electronics Handbook and the Digital Consumer Electronics

Handbook, and assistant editor of the Electronics Engineers’

Handbook, Fourth Edition. He is also the editor of more than

a dozen SAE International books on automotive electronics.

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Autonomous Vehicles for

Safer Driving

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Other SAE books of interest:

V2V/V2I Communications for Improved Road Safety and Efficiency

By Ronald K. Jurgen

(Product Code: PT-154)

Automotive E/E Reliability

By John Day

(Product Code: T-126)

Automotive Software Engineering

By Joerg Schaeuffele and Thomas Zurawka

(Product Code: R-361)

For more information or to order a book, contact SAE International at

400 Commonwealth Drive, Warrendale, PA 15096-0001, USA;

phone 877-606-7323 (U.S. and Canada only) or 724-776-4970 (outside U.S. and Canada);

fax 724-776-0790; email [email protected]; website http://books.sae.org.

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Autonomous Vehicles for

Safer Driving

By Ronald K. Jurgen

Warrendale, Pennsylvania, USA

Copyright © 2013 SAE International. eISBN: 978-0-7680-8039-1

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400 Commonwealth Drive

Warrendale, PA 15096-0001 USA

E-mail: [email protected]

Phone: 877-606-7323 (inside USA and Canada)

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ISBN 978-0-7680-7993-7

Library of Congress Catalog Number 2013932495

SAE Order Number PT-158

DOI 10.4271/PT-158

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Dedication

This book is dedicated to my friend Richard Keaton.

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vii

Table of Contents

Introduction …………………………………………………………………………… 1

Overview: ……………………………………………………………………………… 3

Autonomous Driving – A Practical Roadmap (2010-01-2335)

Jeffrey D. Rupp and Anthony G. King ………………………………………………………………… 5

Major Design and Test Collaborations: ………………………………………… 27

Sartre - Safe Road Trains for the Environment Reducing Fuel Consumption through Lower

Aerodynamic Drag Coefficient (2011-36-0060)

Arturo Dávila and Mario Nombela ………………………………………………………………… 29

Ohio State University Experiences at the DARPA Challenges (2008-01-2718)

Keith A. Redmill, Umit Ozguner, Scott Biddlestone, Alex Hsieh, and John Martin ……………… 35

Low-Cost Autonomous Vehicles for Urban Environments (2008-01-2717)

Mahesh K. Chengalva, Richard Bletsis, and Bernard P. Moss ……………………………………… 43

Vehicle Safety Communications – Applications: System Design & Objective Testing Results

(2011-01-0575)

Farid Ahmed-Zaid, Hariharan Krishnan, Michael Maile, Lorenzo Caminiti, Sue Bai, and ……………

Steve VanSickle …………………………………………………………………………………… 55

A Sampling of Autonomous Vehicle Research Projects: ……………………… 73

Distributed System Architecture of Autonomous Vehicles and Real-Time Path Planning

Based on the Curvilinear Coordinate System (2012-01-0740)

Keonyup Chu, Junsoo Kim, and Myoungho Sunwoo……………………………………………… 75

Development of a Semi-Autonomous System for Testing with Somnolent Drivers (2011-01-0589)

Jaime Lopez, Jose Manuel Barrios, and Mario Nombela ………………………………………… 83

Investigating Control of Vision Based Autonomous Navigation in the Image Plane (2010-01-2005)

Rachana Ashok Gupta, Wesley Snyder, and W. Shepherd Pitts …………………………………… 89

An Autonomous and Car-Following System via DSRC Communication (2012-01-0741)

Chan Wei Hsu, Ming Kuan KO, Min Huai Shih, and Shih Chieh Huang …………………………… 99

Integrated Controller Design for Path Following in Autonomous Vehicles (2011-01-1032)

Behrooz Mashadi, Pouyan Ahmadizadeh, and Majid Majidi ……………………………………… 109

Autonomous Vehicle Control in Urban Environment by Map-Based Driving Lane Detection

(2011-28-0035)

Takanori Yoshizawa, Pongsathorn Raksincharoensak, and Masao Nagai ………………………… 119

Navigation Control in an Urban Autonomous Ground Vehicle (2011-01-1037)

Bapiraju Surampudi and Joe Steiber ……………………………………………………………… 125

About the Editor …………………………………………………………………… 131

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1

Introduction

Autonomous vehicles are no longer a distant future goal. Their future is now. This milestone

has come about for a variety of reasons. Principal among them is the ability to incorporate

numerous automotive technologies developed over many years, such as adaptive cruise

control, forward collision warning, lane departure warning, and V2V (vehicle to vehicle) and

V2I (vehicle to infrastructure) communications, into one complex system.

Reaching this goal has come about through impressive research, development, and testing

procedures. In an achievement such as this, it is not surprising that it took cooperative

ventures among car companies, universities, government agencies, and other entities in

addition to single company efforts.

At first thought, however, one might be concerned about the safety of autonomous vehicles,

but in truth they will be much safer than vehicles driven by humans. One obvious reason is

that autonomous vehicles will not be distracted by such activities as texting on cell phones

and other unwise activities that people engage in while driving, as well as their driving errors.

In addition, autonomous vehicles can do what no human can do. Automatic interventions,

such as those now routine with antilock braking systems and stability systems, will be built

in to prevent accidents in case of a safety problem. For example, through the use of V2V and

V2I technologies, autonomous vehicles can be warned and take action to avoid a traffic jam

or accident around a bend and out of sight. And, finally, driver intervention will always be a

choice if needed or desired.

Despite the many successes attained in these projects, major problems remain to be resolved.

Keeping production costs of autonomous vehicles at a viable level is a major challenge.

Municipalities worldwide need to legalize use of autonomous vehicles on their roads and

highways. Perhaps most important of all, consumers have to be convinced that they want

autonomous vehicles in their futures.

It is with all of these factors in mind that the papers in this book were carefully selected to

bring the reader up to date on successful demonstrations of autonomous vehicles already

accomplished, ongoing projects, and what the future may hold. To do so, the book is divided

into three sections: overview, major design and test collaborations, and a sampling of

autonomous vehicle research projects.

The comprehensive overview paper covers not only the current state of autonomous vehicle

research and development, but also practical obstacles to be overcome and a possible

roadmap for major new technology developments and collaborative relationships.

The section on major design and test collaborations covers Sartre, DARPA challenges, and the

USDOT and the Crash Avoidance Metrics Partnership-Vehicle Safety Communications (CAMP￾VSC2) Consortium.

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2

The Sartre Project is a European collaborative project funded by the EC with participation of

seven entities from four countries. It focuses on “design, set up, evaluation, and validation of

road train systems that do not require modification to the actual road infrastructure, making

use of available technologies for in-vehicle applied systems.”

DARPA offered three challenges for unmanned and autonomous off-road ground vehicles

that required self-funding. One of the papers presents Ohio State University’s experiences

at all three challenges. A second paper describes the development of a fully autonomous

vehicle designed for urban environments developed and tested for under $20,000

in hardware costs. The final paper in this section describes the USDOT and the Crash

Avoidance Metrics Partnership-Vehicle Safety Communications 2 (CAMP-VSC2) Consortium

of Ford, GM, Honda, Mercedes, and Toyota. The consortium developed and tested vehicle

safety systems using Dedicated Short Range Communications (DSRC) at 5.9 GHz in

combination with vehicle positioning.

The final section presents seven papers detailing significant recent and ongoing research

projects by individual companies on a variety of approaches to autonomous vehicles.

The authors of the overview paper conclude by stating “Are we now ready for a giant leap

forward to the self-driving car with all its complexity and interdependencies? Humans

will need to grow with and adapt to the technological advancements of the machine, and

we’ll deeply challenge our social and political paradigms before we’re done. Even if we as

engineers are ready, is the driving public ready?”

Ronald K. Jurgen, Editor

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3

Overview

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4

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5

ABSTRACT

Successful demonstrations of fully autonomous vehicle

operation in controlled situations are leading to increased

research investment and activity. This has already resulted in

significant advancements in the underlying technologies

necessary to make it a practical reality someday. Not only are

these idealized events sparking imaginations with the

potential benefits for safety, convenience, fuel economy and

emissions, they also embolden some to make somewhat

surprising and sometimes astonishing projections for their

appearance on public roads in the near future.

Are we now ready for a giant leap forward to the self-driving

car with all its complexity and inter-dependencies? Humans

will need to grow with and adapt to the technological

advancements of the machine and we'll deeply challenge our

social and political paradigms before we're done. Even if we

as engineers are ready, is the driving public ready?

Putting a man on the moon was achieved through a series of

logical extensions of what mankind knew, with necessity

driving a search for technical solutions in the usual as well as

unusual places, much as the Defense Advanced Research

Projects Agency did with their Grand Challenges. This paper

addresses the autonomous vehicle vision in terms of the

current state and some of the practical obstacles to be

overcome, and proposes a possible roadmap for the major

technology developments, new collaborative relationships,

and feature implementation progression for achieving those

ambitions.

1.0. INTRODUCTION

The desire for the ultimate personalized, on-demand, door-to￾door transportation may be motivated by improved personal

convenience, emissions and fuel economy; yet there are also

potential safety benefits from the pursuit of autonomous

vehicles. This paper describes some of the practical obstacles

in achieving those goals, and explores the use of near term

applications of technologies that will be by-products of

pursuing them. This includes a partial history of autonomous

vehicle development (Section 2), potential consumer

acceptability issues (Section 3), followed by a development

roadmap and discussion of some variables to be addressed

before autonomous vehicles become viable (Sections 4 and

5), and ends with a consideration of collaborative

relationships that could assist in acceleration of development

and issue resolution (Section 6).

2.0. THE CURRENT STATE -

PUTTING THE HYPE INTO

PERSPECTIVE

There has been escalating excitement about fully autonomous

vehicles in the robotics community for some time and the

excitement has now spilled over to the automotive industry.

The idea of a self-driving, road-ready vehicle sparks the

imagination, and is a familiar concept due to repeated

exposures in popular culture; be it movies, cartoons,

television, magazines, books or games.

An exhibit at the 1939 World's Fair in New York1 presented

a vision where cars would use “automatic radio control” to

maintain safe distances, a depiction of transportation as it

would be in 1960, then only 21 years into the future. One of

the earliest attempts at developing an actual vehicle was led

by Dr. Robert E. Fenton who joined the faculty at Ohio State

University in 1960 and was elected to the National Academy

of Engineering in 20032. It is believed that his pioneering

research and experimentation in automatic steering, lane

changing, and car following resulted in the first

demonstration of a vehicle that could drive itself. Since then,

Autonomous Driving - A Practical Roadmap 2010-01-2335

Published

10/19/2010

Jeffrey D. Rupp and Anthony G. King

Ford Motor Company

Copyright © 2010 SAE International

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