This presentation is about self driving cars: a history of the concept, advantages of such vehicles and their work principle. The talk on self-driving cars was delivered by Oleksiy Prots (Senior Software Engineer, GlobalLogic) at GL Lviv RoboClub meeting on June 19, 2015.

1. CONFIDENTIAL©2014 GlobalLogic Inc.
DIY Self-Driving Car
Overview an HowTos

2. 2 CONFIDENTIAL
The beginnings
1950 Smart Highways
with steel cable in the road
GM and RCA, USA
1977 Machine vision
tracked white road marking
Tsukuba Mechanical Engineering
Lab, Japan
1997 PROMETHEUS
1200 mi, 94% autonomously
ARGO Project, Italy
2004 DARPA
Contest
USA

3. 3 CONFIDENTIAL
DARPA: The challenge
− 2004 – less than 12 of 240 km route completed
− 2005 – 5 of 23 vehicles finished the course. 4 in 7.5 hrs
− The winner was Stanley (Stanford Uni)
− 2007 – Grand (Urban) Challenge – City model with traffic:
1st Tartan Racing (Chevy Tahoe, Carnegie Uni) – 14 mph;
2nd Stanford Racing (VW Passat, Stanford Uni) – 13.7 mph;
3rd – VictorTango (Ford Hybrid Escape, Virginia Polytechnic Inst) – 13 mph.
− 2013 – Fast Adaptable Next-Generation Ground Vehicle (FANG)
Challenge – military platforms contest.

4. 4 CONFIDENTIAL
Google: Human drivers are the problem
Manned vehicle T-crossing VS unmanned
Advantages:
• No accidents
• Denser traffic
• Less stops – less jam
• Higher vehicle coordination
• Lower travel time
• Lower air pollution
Unmanned vehicle T-crossing

5. 5 CONFIDENTIAL
Self-Driving Car (SDC) – What’s inside?
− A lot of sensors – more is better: velocity, acceleration, magnetic sensors;
gyroscope, compass, range sensors, video, LIDAR, GPS,
− Control – steering, speed/brakes, transmission, signaling lights, horn etc,
− Computing power – distributed computing (sensor’s controllers),
centralized computing (multi-core, even up to 40 – MIT’s Talos),
− Connectivity – WWW, inter-SDC,
− UI

6. 6 CONFIDENTIAL
Spinal cord:
Sensors and Controls init, coordination and
interaction, emergency handling
CtrlrS2 CtrlrSNCtrlrS1
Self-Driving Car – How it works?
Sensor1
UI/AI:
Goal definition, Route planning, Emergency
recovering
Sensor2 SensorN
Hard
realtime
Realtime
Business logic (AI?):
Motion planning, Positioning,
Emergency avoiding
CtrlrC1 Control1
CtrlrC2 Control2
CtrlrCN ControlN
Not
realtime

7. 7 CONFIDENTIAL
Programming the SDC
GetSensorsData();
If(Sensor1OK) do(actionOnSensor1(Sensor1Data));
If(Sensor2OK)
If(resActionOnSensor1 == res1onSensor1) do(action1OnSensor1(Sensor1Data))
else do(action2OnSensor1(Sensor1Data))
If(Sensor3OK)
If(state == Stopped)
If(resActionOnSensor2 == res1onSensor2)
If(…)
else …

8. 8 CONFIDENTIAL
Programming the SDC Cntd.
GetSensorsData()
AnalyseSensorsData(CurrentState[])
MotionPlan()
CalculateControls()
Go()
CurrentState[]:
P1, C1, P2, C2, … PM, CM
Sensor1 10 .99 3 .8 57 .3
Sensor2 8 .7 3 .1 60 .9
…
SensorN 15 0 4 .9 55 .7

9. 9 CONFIDENTIAL
Legend
Route
Desired position
Sensors’ data
Obtained position
What we get

10. 10 CONFIDENTIAL
Our Big Goal
− Have our RoboCar running and avoiding obstacles,
− Teach it to create its world’s map and navigating in it,
− Persuade it to charge its batteries at Docking station when depleted,
− Make it to interact with surrounding,
− Do it all having a lot of fun.

11. CONFIDENTIAL©2014 GlobalLogic Inc.
Thank you!