9th Workshop on PPNIV – Keynote Cooperative Autonomous Driving and Interaction with Vulnerable Road Users Miguel Ángel Sotelo miguel.sotelo@uah.es Full Professor University of Alcalá (UAH) SPAIN 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017
Content � Motivation � Autonomous Cooperative Driving � GCDC Results � Interaction with VRUs � Conclusions and Future Work 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 2
Motivation • Despite the great development in the past years, there are still some major limitations in Autonomous Driving: Legal framework Legal framework Legal framework Navigation Navigation Navigation Reliability Reliability Reliability Social Acceptance Social Acceptance Social Acceptance Efficiency Efficiency Efficiency 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 3
Limitations of Autonomous Vehicles • Navigation : - Enriched maps are needed (2 Gb/Km). - International Consortia: BMW, Daimler, Audi (HERE). - Online data acquisition and map building. 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 4
Limitations of Autonomous Vehicles • Reliability : - Improvement in sensorial capabilities (adverse weather) . - Development of Cooperative Systems. • Efficiency : - Human-like decision making and maneuvering. - Emulation of human driving by means of prediction of intentions of other traffic agents, such as pedestrians and other vehicles. enhanced cooperation and - There is a need for interaction capabilities. 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 5
Content � Motivation � Autonomous Cooperative Driving � GCDC Results � Interaction with VRUs � Conclusions and Future Work 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 6
Autonomous Cooperative Driving • Goal : - Increase reliability and efficiency of autonomous vehicles. • Techniques : - Cooperation with other vehicles (autonomously or manually driven) and with the infrastructure. - Cooperation with VRUs (Vulnerable Road Users) by prediction their intentions and trajectories. • Limitations : - Strong dependency on penetration rate. 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 7
Autonomous Cooperative Driving • Initiatives : - European Commission: funding of research projects on Cooperative Systems and Autonomous Driving (FP7 and H2020). - Grand Cooperative Driving Challenge (GCDC): International Competition on Autonomous Cooperative Driving in Helmond (The Netherlands) in 2011 and 2016. • GCDC 2016 (three tests) : - Platooning + Merging. - Management of T-intersections. - Management of emergency vehicles. 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 8
Autonomous Cooperative Driving • GCDC 2016 : Platooning + Merging 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 9
Autonomous Cooperative Driving • GCDC 2016 : Management of T intersections 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 10
Autonomous Cooperative Driving • GCDC 2016 : Management of emergency vehicles 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 11
Autonomous Cooperative Driving • DRIVERTIVE – General Architecture 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 12
Autonomous Cooperative Driving • Data Fusion - Localization Example 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 13
Autonomous Cooperative Driving • Communications System (ITS G5 V2V standard) Messages types • CAM (Cooperative Awareness Message): position, geometry and vehicles dynamics. • DENM (Decentralized Environmental Notification Message): asynchronous messages from infrastructure o from other vehicles (e.g. emergency vehicles approaching). • iCLCM (iGame Cooperative Lane Change Message): messages for interaction protocol in different scenarios. 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 14
Autonomous Cooperative Driving • Scenario 1 : Platooning + Merging 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 15
Autonomous Cooperative Driving • Scenario 1: Platooning + Merging Behavior on the left lane is different from that on the right lane 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 16
Autonomous Cooperative Driving • Scenario 2 : Management of T-intersections 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 17
Autonomous Cooperative Driving • Scenario 2: T-Intersections A safety distance must be kept at all times w.r.t the preceding vehicle 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 18
Autonomous Cooperative Driving Analysis of the communication channel (CCDF – Complementary Cumulative Distribution Function) 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 19
Autonomous Cooperative Driving Mean and Variance of UD (Car) 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 20
Autonomous Cooperative Driving Mean and Variance of UD (Truck) 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 21
Autonomous Cooperative Driving Analysis of the communication channel - For some vehicles, the probability of large delays is significant (>10%). - The UD degrades with distance. - Occlusions have a strong effect on delays: - Trucks are less occluded given that their antennas are located at a height of 3 meters. - Other findings: DCC in a highly congested channel is making some of the vehicles get stuck in Restrictive state and are not able to regularly access the channel. - CAM and DENM in GCDC at 25 Hz. 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 22
Autonomous Cooperative Driving Effect of UD on Emergency Braking during CACC - There is a probability between 0.01 – 0.001 of collision with the leading vehicle is only communications are used for CACC in a fleet of more than 4 vehicles. - The channel load is responsible for low reliability. - An additional sensor is needed (radar). 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 23
Content � Motivation � Autonomous Cooperative Driving � GCDC Results � Interaction with VRUs � Conclusions and Future Work 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 24
Autonomous Cooperative Driving • DRIVERTIVE – University of Alcalá ’ s team - Autonomous Cooperative Vehicle (Velodyne, Radar, 3D Vision, Laser, DGPS, CANBus, Communications, fully automated) 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 25
GCDC Results DRIVERTIVE at GCDC 2016 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 26
GCDC Results DRIVERTIVE – Winner of the Prize to the Best Team with Full Automation in GCDC 2016 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 27
GCDC Results GCDC 2016 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 28
Content � Motivation � Autonomous Cooperative Driving � GCDC Results � Interaction with VRUs � Conclusions and Future Work 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 29
Motivation 9 th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24 th Sept. 2017 30
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