Slide1 :

Hello every body I hope that every one is doing well so

today I want present my project for you named
Autonomous drive, for that I choose to follow this plan

Slide 2 : plan
First of all we began with an introduction in which we
speak about the problematic and what is it our objectif
And than we pass to the second step on which we
analyze with details how to control an autonomous car
and what are the different automation levels.
In the third step we will deal with the security and what
is it the method used for that
And we finish with the conclusion

Slide 3: introduction
An autonomous car is a vehicle able to sense its environment and
operating without human involvement. A human passenger is not
required to take control of the vehicle at any time, nor is a human
passenger required to be present in the vehicle at all. An
autonomous car can go anywhere a traditional car goes and do
everything that an experienced human driver does.

The first self-sufficient and truly autonomous cars appeared in the

1980s, Invented by Ernst Dickmanns at the mercedes factory
Slide 4 :
So we pass now to describe with detail how to control an
autonomous car

Slide 5: automation level

There are 6 automation level
Level 0 (No Driving Automation): like most vehicles on
the road today which are manually controlled. The
human provides the "dynamic driving task“.
Level 1 (Driver Assistance): This is the lowest level of
automation. The vehicle features a single automated
system for driver assistance, such as steering or
accelerating.
Level 2 (Partial Driving Automation) This
means advanced driver assistance systems or ADAS.
The vehicle can control both steering and
accelerating/decelerating. Here the automation falls
short of self-driving because a human sits in the driver’s
seat and can take control of the car at any time.
From the level 3 we can talk about an autonomous car
because the vehicles have “environmental detection”
capabilities and can make informed decisions for
themselves, such as accelerating past a slow-moving
vehicle. But―they s ll require human override. The
driver must remain alert and ready to take control if
the system is unable to execute the task.
-The key difference between Level 3 and Level 4
automation is that Level 4 vehicles can intervene if
things go wrong or there is a system failure. In this
sense, these cars do not require human interaction in
most circumstances. BUT, a human still has the option
to manually override.
Level 5 (Full Driving Automation): in this level, vehicles
do not require human a en on―the “dynamic driving
task” is eliminated. Level 5 cars won’t even have
steering wheels or acceleration/braking pedals

Slide 6 : photo decision making

One of the common of approaches for building a self-driving car
system is to organize sensor perception (radar, LIDAR, camera, etc.)
and decision-making process into a hierarchical structure.

Let’s see together the decicion making architecture of a typical self

driving car, this architecture composed of 4 component which are

Route planning

Behavioral layer

Motion planning

Local feed back control

In the 4 next slides we wiil describe this 4 decision making and
comment the responsibilities of each component.

Slide 7: Route planning

At the highest level, a vehicle’s decision-making system must select a
route through the road network from its current position A to the
requested destination B. By representing the road network as a
directed graph with edge weights corresponding to the cost of
traversing a road segment, such a route can be formulated as the
problem of finding a minimum-cost path on a road network graph.
The graphs representing road networks can however contain millions
of edges making classical shortest path algorithms.

Slide 8 : behavioral layer

After a route plan has been found, the autonomous vehicle must be
able to navigate the selected route and interact with other traffic
participants according to driving conventions and rules of the road.
Given a sequence of road segments specifying the selected route, the
behavioral layer is responsible for selecting an appropriate driving
behavior at any point of time based on other traffic participants and
established traffic regulations

traffic participants, road conditions, and signals from infrastructure.

For example, when the vehicle is reaching the stop line before an
intersection, the behavioral layer will command the vehicle to come
to a stop, observe the behavior of other vehicles, bikes, and
pedestrians at the intersection, and let the vehicle proceed once it is
its turn to go.

We will see all of that in a video at the finish of presentation

Slide 9 : motion planning
When the behavioral layer decides on the driving behavior to be
performed in the current context, which could be for example ,
cruise-in-lane, change-lane, or turn-right, the selected behavior has
to be translated into a path or trajectory that can be tracked by the
low-level feedback controller. The resulting path or trajectory must
be dynamically feasible for the vehicle, comfortable for the
passenger, and avoid collisions with obstacles detected by the on-
board sensors. The task of finding such a path or trajectory is a
responsibility of the motion planning system.

Slide 10 : vehicle control

In order to execute the reference path or trajectory from the motion
planning system a feedback controller is used to select appropriate
actuator inputs to carry out the planned motion and correct tracking
errors. The tracking errors generated during the execution of a
planned motion are due in part to the inaccuracies of the vehicle
model. Thus, a great deal of emphasis is placed on the robustness
and stability of the closed loop system. Many effective feedback
controllers have been proposed for executing the reference motions
provided by the motion planning system

Slide 11 : plan
And now we will pass to know more about safety in this car

Slide 12 : ISO
When we talk about safety on car we have to know about the
standard ISO 26262 which defines functional
safety for automotive equipment applied to safety-related systems
that include one or more electrical and/or electronic (E/E) systems
and that are installed in series production road vehicles and it define
requirements for functional safety management for automotive
applications

For this reason the PSA group propose to adapt a method from
aeronautics called MBSA (Model Based Safety Analysis) to tackle the
problem of environment perception and interaction.

Slide 13 : MBSA
MBSA (Model Based Safety Analysis) is a method requires to build a
system model with high abstraction level and enables to generate all
minimal paths(called cutsets by analogy with failure trees) to a given
feared event. the general approach will consist in using MBSA to
generate potentially critical scenarios, i.e., set or sequences of
internal failures linked to interpretation or interaction

To illustrate this method , they apply it to the autonomy function TJC

(Traffic Jam Chauffeur), in charge of driving the car in a traffic jam
situation while following a vehicle ahead at maximum speed of 70
km/h on highway

In the next slides we will explain with details the function of TJC

Slide 14 : TJC
Traffic Jam Chauffeur technology is a level-three driver assistance
system that works in traffic jams and requires no supervision on the
part of the driver

enables drivers to delegate driving in traffic jams with no supervision

required. The car drives entirely autonomously on expressways by
automatically adapting its speed to that of the surrounding traffic
and speed limit.

Slide 15 :
This technology helps to reduce the number of accidents linked to
human error. By delegating vehicle control, drivers take advantage of
their time to do something else while remaining in a position to take
back control. This new innovation brings drivers peace of mind and
comfort and prevents the fatigue from monotonous driving.

To know more about this method we will talk more about it in the
video

Slide 16 : Radar
Autonomous vehicles require the continued evolution of vehicle
sensors which are the eyes and ears of the control system that
perceive the operational characteristics of the vehicle and the
environment around it. The sensors feed the vehicle control systems
with data on the current and developing state of the vehicle’s
surroundings. Automotive radar employs millimeterwave frequencies
for long-range object and obstacle detection, as well as for tracking
the velocity and direction of the various actors such as pedestrians,
other vehicles, guardrails, etc., in the environment around the
vehicle.

Slide 17 : lidar
LiDAR is a combination of laser scanning and 3D imaging as you see in
this picture this Car which has a based LiDAR systems make use of
invisible, eye-safe laser beams (low-power ones). These beams are
fixed above the car and emitted from transmitters which bounce off
all objects located within a maximum of 500 meters. Such objects can
be either stationary or moving.

Processors on the vehicle time how long the beams take to reflect off
the objects and return to the LiDAR's sensors. Then, the system uses
formulas to calculate how far the objects are away from the vehicle.

Slide 18 lidar:
Processors on the vehicle time how long the beams take to reflect off
the objects and return to the LiDAR's sensors. Then, the system uses
formulas to calculate how far the objects are away from the vehicle.

By getting distance data for every surrounding object, a LiDAR system

can detect if a collision is imminent //accident proche// and warn a
vehicle's driver as early as possible. But when we talk about
autonomous driving, this signals could be sent to autonomous driving
systems to automatically activate steering, braking, acceleration, and
other mechanisms.

Slide 19 : video
Slide 20 :
Slide 21 : conclusion
In this presentation we speak about 3 essential things,

The five level of the autonomous driving, in which level 0,1 and 2
require usually a driver and in the other 3 level don’t need him to do
some tasks or all of them.

We speak about the 4 component of the decicion making

architecture which are
Route planning

Behavioral layer

Motion planning

Local feed back control

And finally we talk about the method of Trafic jam chauffeur which
enables drivers to delegate driving in traffic jams with no supervision
required.

Slide 22 : reference
There are some references I used for this presentation