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 Automa on): 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