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INTECHO’18
MADRAS INSTITUTE OF TECHNOLOGY
TITLE: DRIVERLESS CARS WITH DEEP LEARNING
Team members: Yamuna devi.R, Dharani Raveendran
Sri Manakula vinayagar engineering college
Department of Computer science
Puducherry.
In a simple formulation of the Trolley Problem, we imagine Driving in congested areas also remains a big challenge
a trolley hurtling toward a cluster of five people who are regarding safety for self-driving cars, along with driving in
standing on the track and facing certain death. By throwing inclement weather, driving in congested areas at high speed,
a switch, an observer can divert the trolley to a different making a left turn in congested traffic and understanding
track where one person is standing, currently out of harm’s human gestures.
way but certain to die because of the observer’s actions. COMMUNICATION
Computers will not be able to transmit information in areas
of poor reception. If competing driverless entities cannot
work together, one brand's SUV will not be able to warn
another's about the traffic ahead. There is also a question in
how much information will vehicles share with each other
without sacrificing the privacy of passengers. This leads into
another driverless car problem.
SECURITY on the technical aspects of the car, looking out for obstacles
or errors that might be better navigated by a human. IBM
The threat of automotive cyberattacks will only loom larger
envisions it as a third intelligence, keeping watch over both
as society transitions to autonomous vehicles. But even
potential drivers.
before autonomous vehicles become widespread, car
hacking is already a very real danger. Whether it is One of the big challenges is being able to teach AI to
privacy or control of the vehicle that is at risk, the recognize the readiness of a human being. “If you’re in a
possibility of the vehicle being hacked is traffic jam, you kind of zone off, and are barely paying
frightening. Companies will need to be deliberate in attention—you from the outside look very similar to
combating an opportunity for car-jackers to work wirelessly. someone who’s paying attention. What we are doing is
America” Act in Congress 103 in the United States is envisioning a self-driving vehicle that is able to assess the
intended to make hacking a vehicle, a criminal offense. readiness and risk associated with a human taking control of
Introduced in July 2015, the bill looks to establish minimum the vehicle, given some anomaly on board
security levels for any vehicle software in contact with
ARCHITECTURE
physical driving controls. The bill also requires car
manufacturers to establish real time monitoring to detect,
report and prevent cyber-attacks. NHTSA is already
working on security protocols, trying to ensure that vehicles
can send and receive trusted messages and instructions and
has also welcomed the move of automakers in taking
responsibility for accidents involving their automobiles.
Volvo, Mercedes, and Google have already America” Act in
Congress 103 in the United States is intended to make
hacking a vehicle, a criminal offense. Introduced in July
2015, the bill looks to establish minimum security levels for
any vehicle software in contact with physical driving
controls. The bill also requires car manufacturers to
establish real time monitoring to detect, report and prevent
cyber-attacks. NHTSA is already working on security MACHINE LEARNING ALGORITHMS IN
protocols, trying to ensure that vehicles can send and receive DRIVERLESS CARS
trusted messages and instructions and has also welcomed the
move of automakers in taking responsibility for accidents With the integration of sensor data processing in a
involving their automobiles. Volvo, Mercedes, and Google centralized electronic control unit (ECU) in a car, it is
have already. imperative to increase the use of machine learning to
perform new tasks. Potential applications include driving
FUTURE PROCESS FLOW DUE TO THIS scenario classification or driver condition evaluation via
SOLUTION data fusion from different internal and external sensors-
The dynamic between human drivers and autonomous such as cameras, radars, lidar or the Internet of Things.
vehicles is complicated, but researchers at IBM While a pedestrian in a camera image is a perceptual
have patented a new cognitive system that could help pattern, there are also patterns in decision making and
determine if and when a person—or the self-driving motion planning—the right behavior at a four way stop, or
system—should take control. It's based on a variety of when turning right on red, to name two examples—to which
indicators, including factors like human fatigue and deep learning can be applied. These are the kind of variable,
emotional state, as well as the overall mechanical function situation-dependent decisions that deep-learning algorithms
of the vehicle. are better suited to making than the traditional, rules-based
Onboard sensors would monitor physiological aspects of the approach with which they feel more comfortable. Though
human—like their heart rate, the direction of their gaze, and deep learning’s “humanlike” pattern recognition leads to a
if their attention is focused—and the cognitive system might more nuanced behavior than you can expect from a rules-
realize that the car is better able to safely navigate a given based system, sometimes this can get you into trouble.
situation. The system would simultaneously keep close tabs
The Black Box
A deep-learning system’s ability to recognize patterns is a task of annotating the objects in every scene a self-driving
powerful tool, but because this pattern recognition occurs as car’s sensors capture must be completed. This data is what
part of algorithms running on neural networks, a major feeds deep-learning or rules-based algorithms.
concern is that the system is a “black box.” Once the system
In the autonomous car, one of the major tasks of a machine
is trained, data can be fed to it and a useful interpretation of
learning algorithm is continuous rendering of surrounding
those data will come out. But the actual decision-making
environment and forecasting the changes that are possible to
process that goes on between the input and output stages is
these surroundings. These tasks are classified into 4 sub-
not necessarily something that a human can intuitively
tasks:
understand. This is why many companies working on
vehicle autonomy are more comfortable with using • The detection of an Object
traditional robotics approaches for decision making, and • The Identification of an Object or recognition object
restrict deep learning to perception. They reason that if your classification
system makes an incorrect decision, you’d want to be able • The Object Localization and Prediction of Movement
to figure out exactly what happened and then make sure that
The machine learning algorithms are loosely divided into 4
the mistake won’t be repeated. There are a few tricks that
classes: decision matrix algorithms, cluster algorithms,
can be used to peek into the black box a little bit, and then
pattern recognition algorithms and regression algorithms.
validate what goes on inside of it. For example, you can
One category of the machine learning algorithms can be
feed very specific data in, like a camera image with almost
utilized to accomplish 2 or more subtasks. For instance, the
everything blacked out except the thing you want to query,
regression algorithms can be utilized for object localization
and then see how your algorithm reacts to slightly different
as well as object detection or prediction of the movement.
variations of that thing. Simulation can also be a very
helpful tool when dealing with specific situations that an
algorithm is having difficulty with.
Training the System
Deep-learning systems thrive on data. The more data an
algorithm sees, the better it’ll be able to recognize, and
generalize about, the patterns it needs to understand in order
to drive safely. For autonomous cars, which need to be able
to understand a vast array of different situations, the default
approach taken by most companies working on autonomous
driving is to just collect as much data as possible. The issue,
then, becomes managing the data and then doing something
useful with it. Drive.ai keeps in mind that data is not all
created equal. The company puts an immense
Decision Matrix Algorithms
amount of effort into collecting high quality data and then The decision matrix algorithm systematically analyzes,
annotating it so that it’s useful for training deep-learning identifies and rates the performance of relationships
algorithms. Before cars can drive themselves, the laborious between the sets of information and values. These
algorithms are majorly utilized for decision making. the boosting part iteratively and after each classification
Whether a car needs to brake or take a left turn is based on step, it changes the weights of misclassified examples.
the level of confidence these algorithms have on Because of this, a cascade of weak classifiers is created and
recognition, classification and prediction of the next it behaves like a strong classifier.
movement of objects. The decision matrix algorithms are
Clustering Algorithms
models composed of various decision models trained
independently and in some way, these predictions are Sometimes, the images acquired by the system are not clear
combined to make the overall prediction, while decreasing and it becomes difficult to locate and detect objects.
the possibility of errors in decision making. AdaBoosting is Sometimes, there is a possibility of classification algorithms
the most commonly used algorithm. missing the object and in that case, they fail to categorize
and report it to the system. The possible reason could be
AdaBoosting:
discontinuous data, very few data points or low-resolution
Adaptive Boosting or AdaBoost is a combination of images. The clustering algorithm is specialized in
multiple learning algorithms that can be utilized for discovering the structure from data points. It describes the
regression or classification. It overcomes overfitting when class of methods and class of problem like regression. The
compared with any other machine learning algorithms and is clustering methods are organized typically by modeling the
often sensitive to outliers and noisy data. In order to create approaches like hierarchical and centroid-based. All
one composite powerful learner, AdaBoost uses multiple methods are concerned with utilizing the inherent structures
iterations. So, it is termed as adaptive. By adding the weak in data to organize the data perfectly into groups of maximal
learners iteratively, AdaBoost creates a strong learner. A commonality. K-means, Multi-class Neural Network is the
new weak learner is appended to the entity and a weighing most commonly used algorithm.
vector is adjusted in order to pay attention on examples that
were classified incorrectly in the prior rounds. A classifier
that has much higher accuracy than the classifiers of weak K-means
learners is the result. K-means is a famous clustering algorithm. K-means stores k
centroids that it utilizes for defining the clusters. A point is
said to be in a specific cluster if it is closer to the centroid of
that cluster than any other centroid. By alternating between
choosing the centroids depending on the current assignment
of data points to clusters and assigning the data points to
clusters depending on current centroids.
[2] https://spectrum.ieee.org/cars-that-think/transportation/self-driving/how-driveai-is-mastering-autonomous-
driving-with-deep-learning
[3] https://spectrum.ieee.org/cars-that-think/transportation/self-driving/how-much-can-autonomous-cars-learn-from-virtual-
worlds
[4] http://visteon.bg/2017/03/02/machine-learning-algorithms-autonomous-cars/
[5] https://www.autoinsurancecenter.com/top-20-pros-and-cons-associated-with-self-driving-cars.htm