On the Use of Maps for Automated...
Transcript of On the Use of Maps for Automated...
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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
169
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,
!
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
!
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