On the Use of Maps for Automated Driving 2016 IEEE ITSC Rio de - - PowerPoint PPT Presentation

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On the Use of Maps for Automated Driving 2016 IEEE ITSC Rio de - - PowerPoint PPT Presentation

Aug 14, 2023 111 likes •359 views

Institut fr Mess- Christoph Stiller und Regelungstechnik On the Use of Maps for Automated Driving 2016 IEEE ITSC Rio de Janeiro What has been Accomplished? Bertha and Carl Benz ~ 1870 Bertha Benz Memorial Route first automotive long

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Institut für Mess- und Regelungstechnik

On the Use of Maps for Automated Driving

Christoph Stiller

2016 IEEE ITSC Rio de Janeiro

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What has been Accomplished?

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Bertha and Carl Benz ~ 1870

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Bertha Benz Memorial Route

 first automotive

long distance journey in 1888

 104 km  3 large cities  23 smaller towns  18 roundabouts  > 150 traffic lights

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Vision-based autonomous driving

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Autonomous Driving in Cities

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What is Missing?

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18.01.20 16 9

Behavioral Safety Reliability

  • Maps
  • Perception
  • Situational Awareness
  • Motion Planning
  • Cooperation
  • Testing
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Maps & Map-Based Planning

Marc Sons

Mapping & Localization

Fabian Poggenhans

Semantic Mapping

Philip Bender

Behaviour Decision

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Map Layers

Dynamic layer dynamic objects new static objects Localization layer 3d landmarks lane markers 6d camera poses Static planning layer 3d geometry, lanelets traffic lights/rules tactical information

[Lategahn, Bender, Schreiber, Franke et al. 11-14]

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Visual Localization from Point Feature Matches

[Lategahn et al. 11-14] start up company Atlatec GmbH

map features image features R, t

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Behavioral Planning Layer

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Behavoiral Planning Layer

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Planning Layer

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From Cognitive to Cooperative Automobiles

 negotiate cooperative behaviour,  learn  perceive their environment,  understand it and know the crucial objects and parameters,

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 expand their mental map cooperatively when more knowledge becomes available  know their own skills and capabilities  plan autonomously safe behaviour reactive to the current situation

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DFG SPP Kooperativ interagierende Automobile 2015 - 2017

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International Driving Challenges

DARPA Challenges

2005 Grand Challenge: Finalist with OSU/KIT Team 2007 Urban Challenge: Finalist with KIT/TUM Team

Bertha Benz Memorial Route

2013: Mannheim-Pforzheim in collaboration with Daimler

Grand Cooperative Driving Challenge

2011: 1st Winner KIT Team 2016: 2nd Winner KIT/FZI Team

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Grand Cooperative Driving Challenge 2016

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Grand Cooperative Driving Challenge 2016 AnnieWAY - Simulation

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Grand Cooperative Driving Challenge 2016 AnnieWAY - Real Driving

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Karlsruhe Automated Driving Test Field in Real Traffic

V2X Communication Detailed Maps Traffic Light Status Real-Time Roadside Sensor Information Zones A Dense Coverage B Coarse Coverage C Longe Distances

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Summary & Conclusions

Automated driving is feasible today! In normal traffic and at normal velocities Safety driver still needed Many open issues Behavioral Safety Backend server (maps & co) Cooperative Behavior Benchmarks, validation and test

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[Ziegler et al., IEEE Intelligent Transportation Systems Magazine, 2014] [Bender et al., IEEE Intelligent Vehicles Symposium 2014] [Schreiber et al., IEEE Intelligent Vehicles Symposium 2014] [Geiger, et al., International Journal of Robotics Research 32, 2013] [Liebner, Klanner, Baumann, Ruhhammer, Stiller, IEEE Intelligent Transportation Systems Magazine, 5 (2), 2013] [Geiger, et al.IEEE Trans. Intelligent Transportation Systems, 13 (3),2013] [Kitt, Lategahn, IEEE Intelligent Transportation Systems Conf. 2012] [Lategahn, et al., IEEE Intelligent Vehicles Symposium 2012-2013] [Geiger, Ziegler, Stiller, IEEE Intelligent Vehicles Symposium 2011] [Moosmann, Stiller, IEEE Intelligent Vehicles Symposium 2011] [Ziegler, Stiller, IEEE Intelligent Vehicles Symposium 2010] [Ziegler, IROS 2011] [Stiller, Kammel, Lulcheva, Ziegler, Automatisierungstechnik 2008] [Özgüner, Stiller, Redmill, IEEE Proceedings 2007]

Swarm-like Traffic