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ETSI TC ITS Workshop

Intelligent Vehicle….towards automated road

Claude Laurgeau

claude.laurgeau@mines-paristech.fr

Sophia Antipolis 4th February 2009

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La Jamais Contente ( Never Happy)

Paris 1 May 1899

World record : 105,8 km/h

Michelin tyres

Electrical motor(50KW)

Lead-acid battery (80 elements)

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From horse-drawn carriage to engine car

reins of the horse Steering wheelLateral control

Whip and brake crank acceleratoor and footbrake pedal

Longitudinal control

The coachman becomes a driver …but is man is still present

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Present world situation :6*109 human beings1*109 vehicles in the world70*106 new vehicles per year1,2*106 fatalities per year

Energy consumption Environment impact

SafetyMobility - congestion

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Question

Will we have driverless vehicles one the roads one day ?

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60

To day In 2030 ?

Electronic signing ….Road is redeable

To morrow

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my vision in 1995)

7GPS driven on board signaling

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Demonstration of "On board signing concept" in 2000

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Speed limit detection on highway

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RTMaps

IV2002 in Versailles

Automatic driving demonstration

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IEEE Intelligent Vehicle Symposiumand Demonstration 2002

•20-21 June 2002, Versailles, France

•Demo track : 2 lanes highway with lane markings, 3400m long , curves of 30 to 80 m radii

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• 120km/h on the straight road

• 50km/h on the curved road

• Over 100 people took a test ride.

IEEE Intelligent Vehicle Symposium 2002 Automatic Driving Demo

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The film begins with a stopped empty car on the side of the road. A man driven similar car overtakes it. The empty car follows the man driven car and seems to be dragged by it. The potential applications of that technology are stop and go platooning.

1997

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A driverless car overtakes a parked car and locates with its ultra sound sensors a free parking place. The onboard computer elaborates the manoeuvre and automatically parks the car.

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GPS

Vision

Radar

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Enhanced signaling by use of GPS -Vision -Radar-CAN bus data fusion

Following a car while approaching an intersection

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Pedestrian detection and tracking

Moving camera on bord the vehicle

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The fleet of 4 Citroën C3

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Securing driving at intersection using V2V communication

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Securing an intersection with I2V communication

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IR-MRUMTS/GPRS

DSRC5.9GhzWifi802.11a/b/gFamily

Wimax802.16Family

DAB

TPEG FormatCALM protocol. CALM protocol.

architecture architecture

(Continuous Air-interface Long and (Continuous Air-interface Long and

Medium range)Medium range)

T-PEG : Transport T-PEG : Transport Protocol Experts GroupProtocol Experts Group

IPV6IPV6

GPS

OBU

On Board Unit Road Side Unit

Zigbee 802.15.4

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ROAD MAP TO AUTOMATIC DRIVING

STEP 1: Longitudinal control with variable speed set point

delivered by GPS&GIS (VSC :Variable Speed Control )

STEP 2: Lateral control (ALK :Automatic Lane keeping)

Longitudinal and maneuvers assumed by the driver.

STEP 3: Fusion of STEP1 and STEP2 with automatic lateral and

longitudinal control. The human driver assumes only supervision since we are on a free lane.

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STEP 4: A second vehicle is added and ACC :Adaptative Cruise Control at high speed is implemented. The driver is in

charge of supervision and overtaking maneuvers.

STEP 5:Identical to STEP 4 but at low speed which necessitates the stop and go implementation (Stop and Go). The driver is still in charge of supervision and overtaking maneuvers.

STEP 6: Identical to STEP 5 but the robot is in charge of

overtaking maneuver of the slowest vehicle. The driver is only in charge of supervision.

At step 7 we have reached the level of automatic driving on highway but not yet in urban

environment.

24Source: Minalogic

Electronics in automobile

Past

Present

To day, 70% of automotive innovation are issued from electronics

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Question Will we have driverless vehicles

one the roads one day ?

Yes We can !

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Happy End

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Road analysis: detection of lanes, horizontal continuous or discontinuous lines and localization of the car on its lane. The film shows the robustness of the algorithm related to illumination and forks on the highway.