ADVANCES IN INTELLIGENT VEHICLES
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1 ADVANCES IN INTELLIGENT VEHICLES MIKE BROWN SWRI 1
2 OVERVIEW Intelligent Vehicle Research Platform MARTI Intelligent Vehicle Technologies Cooperative Vehicles / Infrastructure Recent Demonstrations Conclusions 2
3 MOBILE AUTONOMOUS ROBOTICS TECHNOLOGY INITIATIVE (MARTI) FORMERLY THE SOUTHWEST SAFE TRANSPORT INITIATIVE (SSTI) DEVELOPING ENABLING TECHNOLOGY FOR INTELLIGENT VEHICLES 3
4 SWRI S UGV PLATFORM (MARTI HARDWARE COMPONENTS) RTMAPS Mines Automotive Prototyping System TORC E stop Disabled Person Driveby Wire System (EMC) Linux / Windows High Performance Blade Cluster Intel Core 2 Duo MotoTron MPC5554 ECU 5.9 GHz DSRC and 900 MHz 2006 Ford Explorer Oxford RT3000 GPS/INS u blox EVK 5H Microstrain 3DM GX1 Hi Res Camera Prosilica EC1350C High Dynamic Range Camera Ibeo ALASCA LIDAR Lower Cost LIDAR/RADAR Hokuyo dspace Autobox MatLab Simulink and CarSim 4
5 OCCUPANCY MAP DATA VISUALIZATION BIRDS EYE VIEW 5
6 IMAGE PROCESSING FOR ROAD SURFACES Original Image Curb Filtered for White Color Sidewalk Include With Drivable Path Fusion of Image and LIDAR sensor data to determine drivable path. Fitted Lines Lane Detection Road Lines per Frame Accumulated Road Lines Estimated Center Path 6
7 COLLABORATION Traffic Signage Recognition Cooperative Sensor Sharing CyCabs MARTI Vehicle Feature Detection 7
8 ITS WORLD CONGRESS DEMONSTRATION (NOVEMBER 2008) COOPERATIVE SENSOR SHARING V2V DSRC PEDESTRIAN DETECTION Result of Joint R&D with R&D100 and Patent Application Filed Initially tested at INRIA in Versailles, France on CyCabs Live Demonstration with Full Size Autonomous Vehicle in NYC 8
9 ITS WORLD CONGRESS DEMONSTRATION (NOVEMBER 2008) NYC VII TEST BED OBE INTEGRATOR OBE Integration OBE Signal Preemption Display Interface (Delphi HMI) OBE Probe Data Display Interface 9
10 ITS WORLD CONGRESS DEMONSTRATION (NOVEMBER 2008) AUTONOMOUS VEHICLE DEMONSTRATION SwRI and Stanford Fully Autonomous Vehicles on 5 block Urban Course in New York City at 15 th ITS World Congress on ITS Video November
11 WIRELESS COMMUNICATION ENABLED ADAPTIVE CRUISE CONTROL ON TRAFFIC SMOOTHING 10 R9802 Investigate effectiveness of an ACC system enabled by GPS and low latency wireless communications, to improve traffic smoothing. Utilizes a fully autonomous vehicle (MARTI), a throttle only controlled vehicle, and a human piloted vehicle, all communicating V2V utilizing 5.9GHz DSRC. 11
12 ITSA ANNUAL MEETING WASHINGTON DC (JUNE 2009) DSRC ENABLEDVEHICLE PLATOONING 12
13 ROBOTICS RODEO FORT HOOD, TX (SEPTEMBER 2009) COOPERATIVE CONVOY SYSTEM 13
14 CONCLUSIONS Considerable work has been done in Active Safety Systems and Intelligent Transportation Systems Now it is time to bridge them to develop a fully cooperative system IntelliDrive! Development of Intelligent Vehicle technologies help to improve Active Safety Systems, Intelligent Transportation Systems, and Military Systems. Technology development is outpacing policy development. 14
15 Mike Brown Intelligent Vehicle Systems Southwest Research Institute
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