Embed Size (px)
Citation preview
CS 402
Intelligent Transportation Systems:
Automated Highways, Autonomous Vehicles & Personal Rapid Transit
By
Alain L. KornhauserProfessor, Operations Research & Financial Engineering
Director, Transportation ProgramFaculty Advisor, PAVE (Princeton Autonomous Vehicle Engineering)
Princeton University
October 11, 2010
CS 402
Intelligent Transportation Systems
• Coined by Fed DoT in early ‘90s to include:– ATMS (Adv. Transp. Management Systems)
• Intelligent Traffic Control Systems and Value Pricing Systems ( EZ Pass mid 80s)
– ATIS (Adv. Transp. Information Systems)• Turn-by-Turn GPS Route Guidance Systems (‘97 CoPilot Live)
– AHS (Automated Highway Systems) (R.Fenton ‘62 OSU, Sarnoff mid 60s)
• Autonomous vehicles
– ATS (Automated Transit Systems)• Personal Rapid Transit (Ficter ‘68, W. Alden ’71, WWU ‘75 )
– ARTS (Adv. Rural Transp. Systems)• Need something for the rest of the country
CS 402
Intelligence (aka Automation) in the current Automobile
• MICROPROCESSORS ECU- controls engine functions F1 video– 1st spark timing module in ‘77 Olds Toronado
• Cruise Control Module- Regulates speed while in cruise control– Intelligent Cruise control (1st into: Toyota ‘97; 1st US ‘00 Lexus)
• ABS Module- controls anti-lock brakes and may handle the traction-control and stability-control systems (1st ‘71 Imperial; 1st 4 wheel electronic: MB ’78)
• Traction Control (1st ‘71 Buick)
• Airbag Module- controls airbag deployment• Body Controller- controls interior lights, door locks, windows, seats, etc• Driver's Door Module- communicates commands from switches on drivers door to the body
controller• Climate Control Module- Monitors interior temperature and controls the heating and cooling
systems• Transmission Controller- controls automatic transmission• Power Distribution Box Module- controls relays in the power distribution box• Instrument Panel- Controls gauges, and indicator lights using data from the communications bus
CS 402
Intelligence (aka Automation)
in the current Automobile• Self-parking systems video (1st version Toyota ’03; US ‘06)
• Lane Departure Warning Systems – AutoVue LDWS; Iteris YouTube 1
• Frontal Impact Warning Systems Volvo video
What’s Next:Lateral & Longitudinal Control
• Transit: • Personal Rapid Transit (Network of autonomous vehicles providing non-stop Origin2Destination service)
• Consumer: • Automated Highways and Autonomous Vehicles
CS 402
Basically:
• Problem is “simple” – Feasible region is a flat plane with boundaries.
• “Challenge” is to properly identify the boundaries.
• Longitudinal and Lateral control problems:– Have velocity vector be Tangent to a centerline between feasible lateral boundaries
CS 402
• Focus on Automated Control Systems – for Automated Transit Systems (Personal Rapid Transit)
• extensive research on control and management systems for large fleets of vehicles
• area-wide network design for large-scale implementations– state-wide PRT
– for Automated Highways• participation in DARAP Autonomous Vehicle Challenges
– focus on stereo vision-based systems for local environment sensing» dynamic depth mapping, object identification and tracking, road
edge identification.– robust control in the presence of substantial uncertainty and noise
• PRT (Personal Rapid Transit)• Fundamental Elements:
– Off-line stations • Boarding, Alighting process does not impede bypass flows• Average speed ~ Top Speed; Top speed need not be high
– Guideway is Passive wrt Branching• Headway limited only by collision avoidance
– with other vehicles not guideway branching mechanism» 1 sec headway possible
– Vehicles need not be large• Demand is very spatially and temporally distributed even during peaks• Fleet having capacities varying between 3-6 passengers.
– New Jersey State-Wide System• Designed by ORF 467 F04/5 – F10/11 + again this year
• Objective: 95% O/D within 5 minute walk
Morgantown 1975Video1 Video2
Taxi2000
Video
CS 402
Early 70s Orly AirportLaser-range headway control; 30cm separation
CS 402
PRT@LHRSept. 2010
Battery powered ULTra System
Off-line station with 2 berths
Video Video
Recharging “Shoe”Vehicles are battery powered; recharged in stations
Central Control Room2 cameras in each vehicle as well as everywhere else
Bath, UK Delhi, India
PRT in Masdar City, Abu Dhabi
Video
CS 402
From: the Paved State Back to: the Garden State
Mobility without Highways for New Jersey
CS 402
Background• I’ve been dabbling in PRT for over 35 years• In many ways, I’m very disappointed in our lack of
progress:– A long time ago: Exec. Director of APTA said:
“Alain: PRT is the transportation system of the future…And Always will be!!!”
• But we have made progress:– Morgantown has proven that it can be done– APMs are a standard of every modern airport– Automation and computer controls have become ubiquitous,
reliable and cheap– There is broad movement towards energy independence and
alternatives to the petroleum economy
CS 402
So…
• Premise:– NJ in 2010 is very different from NJ in 1910
• A look at what might be NJ’s Mobility in 2110 (or before)
CS 402
Looking Back
• In the beginning, it takes a while
• let’s look at the automobile:
Daimler, 1888
CS 402
Central Ave. Caldwell NJ c. 1908
CS 402
CS 402
Bloomfield Ave. & Academy Rd. c. 1908 Before it was paved
CS 402
Muddy Bloomfield Ave. c. 1908
CS 402 September 16, 2008
Muddy Main St. (Rt. 38) Locke, NY. c. 1907
CS 402 September 16, 2008
Automobile Congestion 1968 - present
Finally:
CS 402
Starting to Look Forward
Daimler, 1888
Morgantown, 1973
CS 402
So…1888
1973
1908 1988
2073
CS 402
http://orfe.princeton.edu/~alaink/PRT_Of467F07/PRT_NJ_Orf467F07_FinalReport.pdf
CS 402
PRT as the Dominant Mode. What would it take?
• Had my undergrad Transportation Systems Analysis class (Orf 467) looking at this for each of the past 3 years
• Def. “Dominant Mode”: Serve >90% of all intra NJ trips + access to existing mass transit serving NYC and Phila
• Def. “Serve”: Less than 5 minute walk to a station; stations all interconnected; all existing rail mass transit connected/
CS 402
Middlesex County
CS 402
Sussex County
CS 402
Union County
CS 402 November 30, 2010
Number of Stations by County & Main Trip End
County Transp School Home Recre Office IndustryPubli
c Shop Religious MultiUse Other TOTAL
Atlantic -
17
-
1 18 114 8 - 3 30 - 191
Bergen
28 217 394
47 81 37 15 32 17 249 -
1,117
Burlington
1 69
24
52
188 76 40 54 2 85 6 597
Cape May
11 30 173
46 17 217 38 18 47 351 28
976
Cumberland
2 37 106
7 68 86 24 27 2 78 -
437
Essex
18 30 102
237 9 9 15 92 - 83 -
595
Gloucester
2 103 192
9 20 9 3 13 6 55 -
412
Hudson
7 37
58
154 12 15 7 113 - 64 - 467
Hunterdon
2 39 107
26 21 34 25 44 9 78 20
405
Mercer
5 85
43
18 89 22 21 28 7 89 6 413
Middlesex
11 15 224
16 15 88 - 2 - 70 3
444
Monmouth
31 25
75
27 62 6 8 10 19 66 6 335
Morris
14 125 408
55 50 12 16 16 20 127 15
858
Ocean
11 105
55
60 76 69 52 56 - 42 14 540
Passaic
38 152 285
110
104 65 38 57 71 262 3
1,185
Salem
4 26
45
5 73 27 13 24 1 67 - 285
Somerset
7 39 330
19 31 10 2 23 6 94 7
568
Sussex
3 56
74
68 51 41 16 38 4 37 21 409
Union
16 48
99
112 91 26 45 57 - 83 - 577
Warren
11 42 217
45 55 32 28 20 1 22 11
484
TOALS 222
1,297
3,011
1,114
1,131 995
414
724 215 2,032 140
11,295
CS 402 November 30, 2010
County Stations Miles County Stations Miles
Atlantic 191 526 Middlesex 444 679
Bergen 1,117 878 Monmouth
335 565
Burlington 597 488 Morris 858 694
Camden 482 355 Ocean 540 1,166
Cape May 976 497 Passaic 1185 1,360
Cumberland
437 1,009 Salem 285 772
Essex 595 295 Somerset 568 433
Gloucester 412 435 Sussex 409 764
Hudson 467 122 Union 577 254
Hunterdon 405 483 Warren 484 437
Mercer 413 403 Total 11,295 12,261
CS 402 November 30, 2010
Bottom LineElement Value
PRT Trips per day (90%) 26.51M
Peak hour trips (15%) 3.98M
Fleet size 530K
Fleet Cost $B $53B @ $100K/vehicle
Stations 11,295
Station Cost $28B @ $2M/Station
Guideway 12,265 miles
Guideway Cost $61B @ $5M/mile
Total Capital Cost $143B
CS 402
Conclusions• It’s a lot• It does a lot• It’s one design focused on existing land use / mobility
patterns• We should be able to do better
CS 402
Automated Highways
2005 2007
Link to Presentation Not Easy 20072005Old House
CS 402
The DARPA Grand ChallengesDefense Advanced Research Projects Agency
• DARPA Grand ChallengeCreated in response to a Congressional and DoD mandate: a field test intended to accelerate research and development in autonomous ground vehicles that will help save American lives on the battlefield. The Grand Challenge brings together individuals and organizations from industry, the R&D community, government, the armed services, academia, students, backyard inventors, and automotive enthusiasts in the pursuit of a technological challenge.
• The First Grand Challenge: Across the Mojave, March 2004Across the Mojave from Barstow, California to Primm, Nevada :$1 million prize. From the qualifying round at the California Speedway, 15 finalists emerged to attempt the Grand Challenge. The prize went unclaimed as no vehicles were able to complete more than 7.4 miles.
• The 2005 Grand ChallengeMulti-step qualification process: Site Visits, NQE – Semifinals, GC final event132 miles through the Nevada desert. Course supplied as list of GPS waypoints. October 8, 2005 in the desert near Primm, NV. Prize $2 million.
• The 2007 Urban ChallengeNov. 2007; 60 miles in an urban environment. Lane keeping, passing, stop-signs, K-turns “driving down Nassau Street”. Range of Prizes
CS 402
Prospect Eleven & 2005 Competition
CS 402 November 30, 2010
the making of a monster
CS 402
2005 Grand Challenge
CS 402
Constraints• Very little budget
• Simplicity
Guiding Principles
Objective• Enrich the academic experience of the students
CS 402http://www.pcmag.com/slideshow_viewer/0,1205,l=&s=1489&a=161569&po=2,00.asp
Homemade“Unlike the fancy “drive by wire” system employed by Stanford and VW, Princeton’s students built
a homemade set of gears to drive their pickup. I could see from the electronics textbook they were using that they were learning as they went.”
CS 402
Fall 2004
CS 402 November 30, 2010
CS 402
Fall 2005
CS 402 November 30, 2010
CS 402
It wasn’t so easy…
CS 402
Pimp My Ride
(a video presentation)
CS 402
Our Journey to the 2005 Grand Challenge
Video SubmissionMarch, 2005
Site VisitMay, 2005
2nd Site VisitAugust, 2005
SemifinalsSeptember, 2005
Final EventOctober 3, 2005
118 teams
40 semi-finalists
10th Seed of
23 finalists
9 alternate semi-finalists
3 additionalsemi-finalists
195 entries
Complete 9.5 miles Autonomously
Return to MojaveRun: 2005 courseBB; 2004 course
3 weeks laterVideo NQE 5th Run
Video After 8 miles
Video Launch
Video Fixing one line
Video Flat road
Video Summary Movie
CS 402
Achievements in the
2005
CS 402
Participation in the 2007
CS 402
The 2007 DARPA Urban Challenge• Complete 60 miles of autonomous driving in under 6
hours. • Navigate within a complex urban & suburban
environment – handling GPS outages.• Stop signs, parking lots, passing, merging into traffic.• Link to a sample layout
CS 402
Fall 2007
CS 402
Spring2007
CS 402
CS 402
2007• Semifinalist in the 2007 DARPA Urban
Challenge• Stereo and Monocular cameras, along
with RADAR• Homebrew State Estimation system
CS 402Prospect12_TestRun
CS 402
Substrate
Cognition
ActuationPerception
Environment
CS 402
Perception
CS 402
MonocularVISION
CS 402
Lane
DETECTION
CS 402
Lane
DETECTION
CS 402
StereoVISION
CS 402
Obstacle
DETECTION
CS 402
Obstacle
DETECTION
CS 402
PrecisionGPS
MEMSIMU
CS 402
Sensor
FUSION
CS 402
Cognition
CS 402
Global and Local
NAVIGATION
CS 402
Actuation
CS 402
Home-brewed
ELECTRONICS
CS 402
Mechanical
ACTUATORS
CS 402
Substrate
CS 402
dual-core
PROCESSING
CS 402
Microsoft
ROBOTICS STUDIOWas a mistakeNow switched to thread safe Windows with C++
