Autonomous Vehicles

and Smart Infrastructure

Timothée Le Quesne – A0133779R

Daniel Lollo - A0133497X

Han Thu Win - A0133490L

Rishit Panigrahi - A0132416R

Introduction

Autonomous technology has already achieved a

high degree of development.

Technology is emerging gradually but continually,

with new opportunities

Technical and Economic feasibilities AVs and

Dedicated Roads will be discussed.

Implementation by Stages (AVs, Roads)

Even though so much research and

improvements in AVs have been

put in place, we need to focus on

the infrastructure for AVs as well

Integrated Features & Technologies(MEMS, Lasers, Radars, Lidars, Sensors, GPS, Ultrasound, Cameras, Communication & Networking)

Major Features Functions & Technologies Associated Benefits

Autonomous Emergency Braking (AEB)

Adaptive Cruise Control (ACC)

Lane Keeping Assist

Automatic parking

Networking (V2V, V2I towards V2X)

Detects Obstacles (Radar, Lidar)

Maintains a safe distance from car in front

(Radar, Laser, Camera Sensor)

To detect lane markings, to warn driver, to

auto-correct positioning (Laser, Video

Sensor, IR sensors)

Automatic parking for parallel/ right-angle

parking spaces (Sensors, Memory Chips)

Vehicle-to-Vehicle (V2V)

Vehicle-to-Infrastructure (V2I)

AEB reduces accident by 27%

Change/ maintain the speeds

automatically, reduce crashes

Allows driver to be ‘hands-free’

Driver can get out of the car and

command the car to park itself, smart

phone command can be used

Share info, Prevent collision,

consistent speed in road-train traffic

Pros and Cons of Technologies in Development

http://www.dirdim.com/prod_laserscanners.htm

Pros and Cons of Technologies in Development

Path to Technology Convergence (Hurdles to Overcome)

http://www.kpmg.com/US/en/IssuesAndInsights/ArticlesPublications/Documents/self-driving-cars-next-revolution.pdf

Improved Positioning Technology:

High-Resolution Mapping:

Reliable and Intuitive Human Machine Interface (HMI):

Standardization

Path to Technology Convergence (AVs + Roads)

•Can we achieve a safe, self-driving vehicle on the dedicated roads/ infrastructure?

• Yes. Google and other automakers had done it before… but on the Vehicle Technology only..

• What’s missing?

• The convergence of technologies (Combined Infrastructure)

http://www.kpmg.com/US/en/IssuesAndInsights/ArticlesPublications/Documents/self-driving-cars-next-revolution.pdf

Autonomous Vehicles are conceived to adapt to current road

but we can also imagine specific highways entirely dedicated to these vehicles

What are the features needed?

We need then:

1. Adapted to higher speed limit (less curves..)

2. Less need of parking slots (cars can just drop off users)

3. Reduction of physical road signage, replace it by

wireless communication

4. Centralized motion planning that communicate

with all the sensors and all the vehicles

5. Decentralized solution

Cooperation vs. Autonomy

source: UC Berkeley

Autonomy Solution

● Every single car does its own trajectory calculation in

function of the cars surrounding it.

● Roads transmit them the entire informations regarding

the road map.

Autonomy Solution

The roads only need communication to system: Car/Road

● Continuous communication

● Cover all the road

● Fast enough (<1s)

Communication system Car/Road

Wireless communication

● long-range wifi: not enough scope (32 m)

● Cellular data services: good latency (5ms)

● Mobile Satellite Communication: bad latency (650ms)

Expected rate of improvement

10% improvement each year

Sensor Limitation

To improve safety we need to accumulate the number of

sensors wich increase cost and vulnerabilities because of the

complexity

Cooperation systems can be a solution

Autonomous solution: easier to propose but...

...Cooperation system advantages are interesting:

● Lower prices (less sensors)

● Current and planned actions (better flows)

● Identification of hazards

● Earlier and safer responses possible

Cooperation Solution

Central Computer Car

request destination

Send destination

Send optimized trajectory

Send new opt. trajectory

calculate the

trajectory

Receive/

Send

instructions

Servo

travel

Detect entering car

Detect

disturbance

Detecting Entry Car ?

● Car must be detected and tested

○ to ensure it is an AV

○ car must submit a travel plan

● Barriers at the entry with wireless detection (like in Highways)

○ The technology already exists

Centralized Roads

We need:

● Communication system Car/Road

● Processing power

● Disturbance detection system

What is the Algorithm?

On-Road Motion Planning for Autonomous Vehicles

research by Gu and Dolan from Carnegie Mellon University

● optimal trajectory use use Dijkjtra and A* algo

● lane-based trajectory generation by rolling out trajectories based on

lateral shifts from the lane centerline

Processing Power

● Dijkstra complexity

● 100 km highway

● 200 km/h medium speed

2014 prices of HP cloud compute services:

0,012$/GHz/min

Google car current

expected price:

320 000 $

● 5 car/sec

● Moore’s law

● 2014 prices of HP cloud compute services

Disturbance detection system

● Global navigation satellite systems: 10 m precision

● Regional systems: old tech and bad precision

● Diferential GPS, Satellite and base system: 10 cm

Expected rate of improvement

What could Vinci do to construct autonomous roads?

The goal of Vinci wouldn’t be to manufacture autonomous vehicles, but to coordinate all vehicles on the roads.

What could Vinci do to construct autonomous roads?

It is very difficult and expensive to construct new roads. It is much easier to adapt

current roads to autonomous vehicle:

The first step is to connect every car to the network

➔ Cellular data services on roads, free connection of every car to the

network

➔ Differential GPS for every car

What could Vinci do to construct autonomous roads?

The second step is to analyse all these datas

➔ Data center : collect data from every car and centralize it

➔ Big data algorithms to take the best decision in real time for every car

What could Vinci do to construct autonomous roads?

The third step is to send all the individual answers to every car

➔ Cellular data services on roads, free connection of every car to the

network

➔ The car doesn’t only “see” what is around, but sees what is 100km

forehead too.

What could Vinci do to construct autonomous roads?

Other costs for Vinci :

➔ Need higher surfacing quality (for higher speed)

➔ Need less curves and less differences in high

➔ Need infrastructure to secure the network (pirating risk must

be 0)

What could Vinci do to construct autonomous roads?

Earnings for Vinci

➔ More cars/second on roads

➔ Less accidents

➔ Dominant design

Enterpreneurial Opportunities for Smart

Infrastructure

More than the vehicle manufacturers and vehicle component

manufacturers who automatically join the fray when Autonomous

Vehicles become the future, we shall discuss how the businesses

which contribute to the dedicated/ smart roads for the AVs stand to

gain in this process.

Enterpreneurial Opportunities for Smart Infrastructure

1. Solar Roads – Solar Panels

2. Pressure Sensors on roads

Enterpreneurial Opportunities for Smart Infrastructure

3. Recycled Tempered Glass

4. Damage Sensors

Enterpreneurial Opportunities for Smart Infrastructure

5. Smart Street-Lights

Enterpreneurial Opportunities for Smart Infrastructure

6. Re-fuel on the go

7. Dynamic Road Signages

https://www.youtube.com/watch?v=qlTA3rnpgzU