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9th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24th Sept. 2017
Cooperative Autonomous Driving and Interaction with Vulnerable Road Users
Miguel Ángel Sotelo
miguel.sotelo@uah.es Full Professor
University of Alcalá (UAH)SPAIN
9th Workshop on PPNIV – Keynote
9th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24th Sept. 2017 2
u Motivation
u Autonomous Cooperative Driving
u GCDC Results
u Interaction with VRUs
u Conclusions and Future Work
Content
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• Despite the great development in the past years, thereare still some major limitations in AutonomousDriving:
Motivation
Legal frameworkLegal frameworkLegal framework
NavigationNavigationNavigation ReliabilityReliabilityReliability
EfficiencyEfficiencyEfficiency Social AcceptanceSocial AcceptanceSocial Acceptance
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• Navigation:- Enriched maps are needed (2 Gb/Km).
- International Consortia: BMW, Daimler, Audi (HERE).
- Online data acquisition and map building.
Limitations of Autonomous Vehicles
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• 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 ofintentions of other traffic agents, such as pedestrians andother vehicles.
- There is a need for enhanced cooperation andinteraction capabilities.
Limitations of Autonomous Vehicles
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u Motivation
u Autonomous Cooperative Driving
u GCDC Results
u Interaction with VRUs
u Conclusions and Future Work
Content
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• Techniques:- Cooperation with other vehicles (autonomously or manually
driven) and with the infrastructure.
- Cooperation with VRUs (Vulnerable Road Users) byprediction their intentions and trajectories.
Autonomous Cooperative Driving
• Limitations:- Strong dependency on penetration rate.
• Goal:- Increase reliability and efficiency of autonomous vehicles.
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• GCDC 2016 (three tests):- Platooning + Merging.
- Management of T-intersections.
- Management of emergency vehicles.
• Initiatives:- European Commission: funding of research projects on
Cooperative Systems and Autonomous Driving (FP7 andH2020).
- Grand Cooperative Driving Challenge (GCDC):International Competition on Autonomous CooperativeDriving in Helmond (The Netherlands) in 2011 and 2016.
Autonomous Cooperative Driving
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• GCDC 2016: Platooning + Merging
Autonomous Cooperative Driving
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• GCDC 2016: Management of T intersections
Autonomous Cooperative Driving
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• GCDC 2016: Management of emergency vehicles
Autonomous Cooperative Driving
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• DRIVERTIVE – General Architecture
Autonomous Cooperative Driving
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• Data Fusion - Localization Example
Autonomous Cooperative Driving
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• Communications System (ITS G5 V2V standard)
Messages types
• CAM (Cooperative Awareness Message): position, geometry andvehicles 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 forinteraction protocol in different scenarios.
Autonomous Cooperative Driving
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• Scenario 1: Platooning + Merging
Autonomous Cooperative Driving
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• Scenario 1:
Platooning + Merging
Behavior on the leftlane is different fromthat on the right lane
Autonomous Cooperative Driving
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• Scenario 2: Management of T-intersections
Autonomous Cooperative Driving
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• Scenario 2:
T-Intersections
A safety distance mustbe kept at all times w.r.tthe preceding vehicle
Autonomous Cooperative Driving
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Analysis of the communication channel (CCDF –Complementary Cumulative Distribution Function)
Autonomous Cooperative Driving
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Mean and Variance of UD (Car)
Autonomous Cooperative Driving
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Mean and Variance of UD (Truck)
Autonomous Cooperative Driving
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Analysis of the communication channel
- For some vehicles, the probability of large delays issignificant (>10%).
- The UD degrades with distance.
- Occlusions have a strong effect on delays:
- Trucks are less occluded given that theirantennas 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.
Autonomous Cooperative Driving
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Effect of UD on Emergency Braking during CACC
Autonomous Cooperative Driving
- There is a probability between 0.01 – 0.001 ofcollision with the leading vehicle is onlycommunications are used for CACC in a fleet of morethan 4 vehicles.
- The channel load is responsible for lowreliability.
- An additional sensor is needed (radar).
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u Motivation
u Autonomous Cooperative Driving
u GCDC Results
u Interaction with VRUs
u Conclusions and Future Work
Content
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• DRIVERTIVE – University of Alcalá’s team- Autonomous Cooperative Vehicle (Velodyne, Radar, 3D Vision, Laser,
DGPS, CANBus, Communications, fully automated)
Autonomous Cooperative Driving
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DRIVERTIVE at GCDC 2016
GCDC Results
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DRIVERTIVE – Winner of the Prize to the Best Team withFull Automation in GCDC 2016
GCDC Results
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GCDC 2016
GCDC Results
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u Motivation
u Autonomous Cooperative Driving
u GCDC Results
u Interaction with VRUs
u Conclusions and Future Work
Content
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Motivation
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Motivation
• Pedestrian Path Prediction in the Automotive:– Further improvement in state-of-the-art ADAS by meansof action classification
– Walking, Stopping, Starting, Bending-in
– Improvement of accuracy in 30-50 cm:
– Difference between effective and non-effectiveintervention in emergency braking systems
– Initiation of emergency braking 0.16 s in advance canpotentially reduce severity of accidents injuries by 50%
– Early recognition of pedestrians stopping actions canprovide more accurate last-second active interventions
Strong gains are expected in the performance and reliability of active
pedestrian protection systems
Strong gains are expected in the performance and reliability of active
pedestrian protection systems
Strong gains are expected in the performance and reliability of active
pedestrian protection systems
9th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24th Sept. 2017 32
Proposed Approach
Global Scheme
Off-line Motion Capture System
Recovery of 3D pose and position
Lateral predicted position
On-line
Probabilistic Training
Knowledge of Pedestrians dynamics
Stereo Cameras
Transformation to latent space +
prediction
Geometric processing
3D Pedestrian Pose
Estimation
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Pedestrian Pose Measurement
Pedestrian Skeleton considered in this research
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Pedestrian Pose Measurement
Method for Joints Extraction - Example
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Pedestrian Pose Measurement
Method for Joints Extraction – Results
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Pedestrian Pose Measurement
Body parts detection using Deep Learning
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General Method - Overview
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Activity Recognition - Example
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Experimental Results
Detection Delay - Summary
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Experimental Results
Probabilistic Action Classification
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Experimental Results
Probabilistic Action Classification
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Experimental Results
Video sequence showing prediction results
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Intelligent Interface with VRUs
GRAIL – GReen Assistant Interfacing Light
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Intelligent Interface with VRUs
GRAIL – GReen Assistant Interfacing Light
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u Motivation
u Autonomous Cooperative Driving
u GCDC Results
u Interaction with VRUs
u Conclusions and Future Work
Content
9th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24th Sept. 2017
Conclusions and Future Work
Conclusions- Autonomous Cooperative Systems will pave the way to the massive
and robust deployment of self-driving cars.
- The V2V communication link is still a weakness that needs further attention from the scientific community in order to provide real-time and robust communication capability among large fleets of vehicles.
- Anticipating the intentions of other traffic participants, such as VRUs and vehicles, is essential for mimicking human drivers behavior.
Future Work- Enhancement of V2V communication channel for large fleets of
vehicles (antenna placement, frequency of data, etc.).
- Context-based action prediction using Probabilistic Graphical Models (Bayesian Networks) is under development for VRUs and vehicles.
- Gaze direction, group behavior.
9th Workshop on Planning, Perception, and Navigation for Intelligent Vehicles. Vancouver, Canada, 24th Sept. 2017
Cooperative Autonomous Driving and Interaction with Vulnerable Road Users
Thanks for your kind attention!
Miguel Ángel Sotelo
miguel.sotelo@uah.es Full Professor
University of Alcalá (UAH)SPAIN
9th Workshop on PPNIV – Keynote