State of the Art &
Near Term Future of
Smart Driving Carsby
Alain L. Kornhauser, Ph.D.Professor, Operations Research & Financial Engineering
Director, Program in Transportation Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering)
Princeton University
Presented at
ITS-NY 2013 Annual Meeting Saratoga Springs, NY
June 14, 2013
Where Have We Been?
The Automobile’s 1st 125 Years
(1886-2011)
Benz patent 1886 1st Automobile Benz Circa 2011
Deliverd: Enormous Personal Freedom & Mobility
But…Safe Operation Requires Continuous Vigilance
We Love the Freedom & MobilityBut…Continuous Vigilance is an unrealistic requirement for drivers
Txtng while driving is out of control…
TravelTainment Industry Wants Everyone’sAttention
In In 717 out of 723 accidents ((99%)
http://orfe.princeton.edu/~alaink/SmartDrivingCars/NHTSA_Hendricks2001_UnsafeDrivingActs.pdf
“In 717 out of 723 crashes (99%), a driver behavioral error caused or contributed to the crash”
Early Estimate of Motor Vehicle Traffic Fatalities in 2012
Response is Laudable
Kirkland, WA
But Not Likely to be Effective
What About Automation?
Preliminary Statement of Policy Concerning Automated Vehicles
Extending its vehicle safety standards from Crash Mitigation to Crash Avoidance with Aim at Full Self-Driving Automation
Level 0 – No-Automation. The driver is in complete and sole control of the primary vehicle controls (brake, steering, throttle, and motive power) at all times, and is solely responsible for monitoring the roadway and for safe operation of all vehicle controls. Vehicles that have certain driver support/convenience systems but do not have control authority over steering, braking, or throttle would still be considered “level 0” vehicles. Examples include systems that provide only warnings
• Level 1 – Function-specific Automation: Automation at this level involves one or more specific control functions; if multiple functions are automated, they operate independently from each other. The driver has overall control, and is solely responsible for safe operation, the driver. The vehicle’s automated system may assist or augment the driver in operating one of the primary controls – either steering or braking/throttle controls (but not both).
• Level 2 - Combined Function Automation: Automation of at least two primary control functions designed to work in unison to relieve the driver of control of those functions. Vehicles at this level of automation can utilize shared authority when the driver cedes active primary control in certain limited driving situations. The driver is still responsible for monitoring the roadway and safe operation and is expected to be available for control at all times and on short notice.
• Level 3 - Limited Self-Driving Automation: Vehicles at this level of automation enable the driver to cede full control of all safety-critical functions under certain traffic or environmental conditions.
• Level 4 - Full Self-Driving Automation: The vehicle is designed to perform all safety-critical driving functions and monitor roadway conditions for an entire trip.
Preliminary Statement of Policy Concerning Automated Vehicles
The Aim to Full Self-Driving is Laudable;
But, Ironically, it may beoverly ambitious and potentially counter productive
Eternal Vigilance should not be the price of Freedom derived from the Automobile
We Like to Drive and Can Be Vigilant
But Preferably only when we want to; Otherwise, Let us “TXT”
By Focusing on Level 3 (Limited Self-Driving, aka SmartDrivingCar)
NHTSA Can Capture “All” Safety Benefits & Make the Car Even More Desirable
The Jump to Level 4 (Full Self-Driving) Delivers Broad Societal Benefits Equal Mobility for All (young, old, handicapped, disadvantaged), Elimination of Congestion, Halving of Energy, Pollution
These are NOT NHTSA’s Mission & Shouldn’t be Distracted by that Goal
Where Are We Now?R&D
http://www.youtube.com/watch?v=cdgQpa1pUUE
Has drive ~ 500,000 miles with “Level 3: Limited Self-Driving Automation”
But…Hardware too expensive and Reliance on 3D Google Maps is “non-elegant”
Where Are We Now?
“Level 4 Full Self-Driving Automation”Operational in Exclusive Environments
Now exist in essentially every Major Airport
APMAutomated People Movers
Milan
Beijing
Paris
and a growing number of Driverless Metros
Morgantown 1975
Remains a critical mobility system & planning an expansionToday…
> 25M Driverless VMT Zero serious accidents
And Today…• Masdar & Heathrow are operational
Video
> 1M Driverless VMT Zero accidents
Initial Demonstrationof Autonomous Transit
• Autonomous Buses at La Rochelle (CyberCars/Cybus/INRIA) http://www.youtube.com/watch?v=72-PlSFwP5Y
– Simple virtual non-exclusive roadway • Virtual vehicle-based longitudinal (collision avoidance) and
lateral (lane keeping) systems
This is actually “Level 4 Full Self-Driving Automation”
Very Slow Speed (~ 10 mph); “Limited Pedestrian Environment”
– Driverless Trucks in Australian & Chilean Mines
http://www.youtube.com/watch?v=s0RCSX95QmE
Where Are We Now?
“Level 0+ Driver Support , but No Automation ”Operational Bus Transit
Bus 2.0: Initial Demonstration of Transit-based Driver Assistance (Level 0+ , no control, only warning)
Fleet of 10 Gillig low floor busesMorning and evening express services22 mile (one-way) travel distanceReliable travel times in all weather and traffic conditions
Bus 2.0: Transit-based Driver AssistanceHow Do They Do It?
Bus 2.0: Transit-based Driver AssistanceHow Do They Do It?
It Just Works!
Where Are We Now?
“Level 2-, Combined Automation with constant vigilance”Available in ShowRooms for Consumers
Intelligent Drive (active steering )BAS-Plus Active Lane-Keeping Assist (braking not steering )
Volvo Truck Emergency braking
DOT HS 810 767 Pre-Crash Scenario Typology for Crash Avoidance Research
More on Google: Levandowski Presentation
With Mercedes the Market Leader in “Level 2-” and an incremental price tag that can be absorbed by a Price Leading Insurance Company, then other automakers will be enticed to follow which should lead to:
• Viral adoption by the car buying public
• “Moore’s Law type of price/performance improvement
• Market-driven Transition to “Level 2” and “Level 3” at same or even lower price structure
• Adoption and enhancement rates that are comparable to that enjoyed by airbags (With likely a comparable hick-up)
What’s Near-term for Transit?With Mercedes the Market Leader in “Level 2-” and an incremental price tag that can be absorbed by a Price Leading Insurance Company, then other automakers will be enticed to follow which should lead to:
• Fact: For over 40 years New Jersey has had the World’s Best “Bus Rapid Transit” System!
• It Consists of:• Efficient Boarding/Alighting @ Port Authority Bus Terminal
– 223 Departure Gates– Readily Accommodates 700 Buses/hr
The World’s Best Bus Rapid Transit System
• Fact: For over 40 years New Jersey has had the World’s Best “Bus Rapid Transit” System!
• It Consists of:• Efficient Boarding/Alighting @ PA Bus Terminal• Direct Access/Egress to Exclusive Lanes in the Lincoln
Tunnel• 3+ HOV Lanes on the NJ Turnpike that are, by default, essentially bus-only • Many Strategically Located Park&Ride Lots
The World’s Best Bus Rapid Transit System
• Pieces are Connected by:• “495-viaduct” Counter-flow Exclusive Bus Lane
(XBL)– Lane Segregation is by Removable Plastic Peg– Yet exceedingly Safe
» 3 (?) accidents in 41 years, no fatalities.
The World’s Best Bus Rapid Transit System
A Perfect Storm Opportunity• PABT in desperate need of “rehabilitation”• XBL at capacity • “Helix” due for “rehabilitation”• Desperately need increased late afternoon in-
bound capacity for busses• New bus procurement cycle begins in 2 years• Test facility available @ Ft. Monmouth
• add Intelligent Cruise Control with Lane Assist to the 3,000 buses…
• e.g. Daimler Benz Distronic Plus with Traffic Jam Assist• even at an incremental $75,000/bus this is just $200M
• Could achieve sustained 3.0 second headways– Increases practical throughput by 50%
• from 700 -> 1,000 buses/hr; 35,000 -> 50,000 pax/hr
– Increased passenger capacity comparable to what would have been provided by $10B ARC rail tunnel
• Institutionally manageable:– All Express Buses are acquired according to NJT Specs.– Facilities (XBL, LT, PABT) are controlled by PANY&NJT
• Ideal test facility available: – Ft. Monmouth
Improving The World’s Best Bus Rapid Transit System
• Concept Not New:
• Concept Makes Even More Sense Now!
Improving The World’s Best Bus Rapid Transit System
Near-term Opportunity for a Substantive Extension of Autonomous Transit
• Specific: General Mobility for Fort Monmouth Redevelopment– Currently: Decommissioned Ft. Monmouth is vacant .
• Ft. Monmouth Economic Revitalization Authority (FMERA) is redeveloping the 3 sq. mile “city”• Focus is on attracting high-tech industry• The “Fort” needs a mobility system.• FMEDA is receptive to incorporating an innovative mobility system• Because it is being redeveloped as a “new town” it can accommodate itself to be an ideal site for testing
more advanced driverless systems.
Where might We End Up?
Discussion!
http://www.youtube.com/watch?v=MZ3s_cdk_yE&feature=player_embedded
http://www.youtube.com/watch?v=0D0ZN2tPihQ&feature=player_embedded
http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/VolvoPlatooningConcept.wmv
http://www.youtube.com/watch?v=ridS396W2BY&feature=player_detailpage
Assorted Videos of Self-Driving Carshttp://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/1_FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4
http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/2_FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4
http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/3_FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4
http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/4_FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4