Winning Grand Challenge

1
The DARPA Urban Challenge Sebastian Thrun,
Stanford Racing Team
2
2004 Barstow, CA, to Primm, NV
3
2005 Grand Challenge
4
The Grand Challenge Race
5
Wired Best Robot Ever
6
The Urban Challenge
7
Urban Challenge

• Idea Running errands
• Home ? Store ? School ? Church ? Home
• Speed 30mph max
• Rules CA Traffic Laws
• November 3, 2007
• 3.5M Cash Prizes

8
2007 New Requirements
Urban Challenge 2007
Grand Challenge 2005
Surround sensing
Forward sensing
80m Sensor range
40m Sensor range
Perception

• Understanding
• Object detection
• Prediction
• Interaction

Holy Grail of AI
9
Meet Junior
10
New Stanford Racing Team
11
Surround View
12
Camera-GPS
13
Learning How Cars Look like
14
Car Tracking
15
Surround Laser
Stanley 90 degrees (2005) ? Junior 360
degrees (2007)
By Velodyne
16
Surround Laser
By Velodyne
17
Finding Curbs
18
Vehicle Tracking, Prediciton
19
Urban Navigation
20
Discrete Choices
21
Passing and Merging
22
Passing and Merging
23
The Ultimate Goal!
24
The Big Picture
25
The Cost of Human Driving

• Traffic Accidents (USA)
• 42,636 dead (2004)
• 2,788,000 injured (2004)
• Leading cause of death, age 3-33
• Commuting (USA)
• 1.25 hours per day and working person

26
Timeline Autonomous Driving
CMU Navlab 3000 miles 98 autonomous Dickmanns 100
0 miles, 110 mph 95 autonomous 1995
Tsukuba 20mph Japan, 1977
Dickmanns 60mph 1985
Urban Challenge 100 autonomous in traffic
2007
Prometheus Europe 1987-1995
ALV Darpa 1985-87
Demo I,II,III Off-road nav 1992-2002
Grand Challenge 100 autonomous 2003, 2005
1980
1985
1990
1995
2005
2000
Emergency brakes (2007)
ACC (1998)
ABS (1980)
Parking (2003-04)
LDW (2005)
Source Wikipedia D. Gage UGV History 101, 1995
27
Future of Autonomous Driving
1,000,000 autonomous Highway urban miles (2020)
1000 autonomous Highway miles (2010)
2010
2015
2020
2025
2030
Many new driver assistance systems (today )
Fully autonomous Military vehicle (2015)
Fully autonomous Production car (2030)
28
www.stanfordracing.org