driving simulators to support the design of autonomous vehicles
TRANSCRIPT
Institute for Transport StudiesFACULTY OF ENVIRONMENT
Driving Simulators to support the
design of Autonomous Vehicles
Richard Romano
Acknowledgements
Work discussed
was performed at
Realtime
Technologies, Inc.
between 1997 and
2015
What is in an Autonomous
Vehicle?
Sensors
Lane Position
Distance and
Speed of Car
Ahead
Map
Map of Road
GPS Location
Control
Strategy
Steering
Wheel
Acc/Brake
Pedal
Stanford Autonomous Vehicle
http://stanford.edu/~cpiech/cs221/apps/driverlessCar.html
Model Based Design
From FLUIDON: 2011 European HyperWorks Technology Conference
What Do We Need for AV Testing
Reconfigurable Simulator
• Add test hardware
• Add test software
Real World Databases*
Test Scenarios
Virtual Prototype of
Autonomous Control
Software
Iowa Driving Simulator circa 1993
Automated Highway Systems
Virtual Prototyping
ITS Safety and Technology group is
regularly testing the human factors
aspects of the System Functional
Specification
Software in the Loop
Nissan integrates and tests their various
software systems inside their driving simulator
in Silicon Valley.
(2013)
www.bizjournals.com/sanjose/news/2013/07/31/inside-nissan-motor-cos-silicon.html
Need Real World Databases
Correlated GPS
Information
Working towards 10 cm accuracy
Software in the Loop
Lane Position
Distance and
Speed of Car
Ahead
(Simulator)
Map of
Simulated Road
GPS Location
Control
Strategy
(Nissan
Software)
Steering
Wheel
Acc/Brake
Pedal
Software in the Loop
MIT Urban Challenge (2007)
http://archive.darpa.mil/grandchallenge/TechPapers/MIT.pdf
Software in the Loop
MIT
http://archive.darpa.mil/grandchallenge/TechPapers/MIT.pdf
Hardware in the Loop
MVTA and University of
Minnesota have developed
augmented driver’s aid system to
support driving on shoulders
http://www.bus2.me.umn.edu/
MVTA Bus
http://www.bus2.me.umn.edu/
Hardware in the Loop
Real vehicle hardware
integrated into Simulator.
Hardware/software testing is
then possible.
(2009)
Rapid Prototyping
Current Research Interest – Use Driving Simulator Traffic
Controller in the Real Vehicle
Human Factors Autonomous
Traffic Controller
What can we learn?
Original IDS State
Machine (1993)
Link list of vehicles on
the road. Only
compared to the
vehicle in front of it
O(n).
Similar to Dracula?
Scenario Authoring for Virtual Environments J. Cremer and J. Kearney
MIT Autonomous Vehicle
Controller (2007)
http://archive.darpa.mil/grandchallenge/TechPapers/MIT.pdf
Hierarchical State Machine
Used in NADS
1995 National
Advanced Driving
Simulator
Used in
CounterStrike and
Left for Dead
http://aigamedev.co
m/open/review/hcs
m-concurrent-state-
machine/
HCSM: A Framework for Behavior and Scenario Control in
Virtual Environments: J. Cremer, J. Kearney, Y. Papelis
Road Based Control
Romano (2001)
Vehicles check into the
roads and
intersections they are
associated with and let
the road or intersection
control them.
Compares all vehicles
on the road to each
other with O(n log n)
complexity.
MOTUS Microsimulation
Modern transport
microsimulation model
taking the world by storm.
Being integrated into
multiple driving simulators.
A Modular Approach for Exchangeable
Driving Task Models in a Microscopic Simulation Framework
Wouter Schakel et al.
Let’s Be Provocative
Let’s assume in mixed traffic (autonomous and traditional
vehicles) that autonomous vehicles should drive like safe
humans.
Why shouldn’t the same controller be usable in Human
Factors Driving Simulator Traffic Microsimulation, Transport
Microsimulation, and in the Real Vehicle?
Wouldn’t this lead to better models and controllers all around?
Turing Test of Autonomous
Vehicles
Is there a real driver in there?
YouTube/Magic of Rahat