A

TECHNICAL PAPER PRESENTATION

ON
STUDY OF AUTONOMOUS VEHICLE

BACHELOR OF TECHNOLOGY
IN
MECHANICAL ENGINEERING
By
M.RAM
21P65A0316

VIGNANA BHARATHI INSTITUTE OF TECHNOLOGY

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 (Accredited by NBA and NAAC, New Delhi)
(Affiliated to JNTU Hyderabad, Approved by AICTE)
Aushapur(v), Ghatkesar (m), R.R Dist., Hyderabad-501301

DEPARTMENT OF MECHANICAL ENGINEERING

ACKNOWLEDGEMENT
I wish to thank various people for the successful completion of technical paper presentation
report with a good insight of the work.
I would like to thank our Principal Dr. P.V.S Srinivas, for this opportunity to work on this
presentation.
I am extremely grateful to our Head of the Department Dr. B. Satish Kumar, for his
continuous encouragement.
I am extremely grateful to R. Venkateshwar Rao, Project coordinator for his support.
I also thank the faculty of the Department of Mechanical Engineering for their support.
By

Student Name: M.RAM

Roll.no.: 21P65A0316

ABSTRACT

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Autonomous cars are the future smart cars anticipated to be driver less, efficient and crash
avoiding ideal urban car of the future. To reach this goal automakers have started working in
this area to realised the potential and solve the challenges currently in this area to reach the
expected outcome. In this regard the first challenge would be to customize and imbibe
existing technology in conventional vehicle to translate them to a near expected autonomous
car. This transition of conventional vehicles into an autonomous vehicle by adopting and
implementing different upcoming technologies is discussed in this paper. This includes the
objectives of autonomous vehicles and their implementation difficulties. The paper also
touches upon the existing standards for the same and compares the introduction of
autonomous vehicles in Indian market in comparison to other markets. There after the
acceptance approach in Indian market scenarios is discussed for autonomous vehicles.

AUTONOMOUS VEHICLE

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An autonomous vehicle, or a driverless vehicle, is one that is able to operate itself and
perform necessary functions without any human intervention, through ability to sense its
surroundings.
An autonomous vehicle utilises a fully automated driving system in order to allow the vehicle
to respond to external conditions that a human driver would manage.

How self-driving cars works?

AI technologies power self-driving car systems. Developers of self-driving cars use vast
amounts of data from image recognition systems, along with machine learning and neural
networks, to build systems that can drive autonomously.

The neural networks identify patterns in the data, which are fed to the machine learning
algorithms. That data includes images from cameras on self-driving cars from which the
neural network learns to identify traffic lights, trees, curbs, pedestrians, street signs and other
parts of any given driving environment.

History of self-driving cars

The path toward self-driving cars began with incremental automation features for safety and
convenience before the year 2000, with cruise control and antilock brakes. After the turn of
the millennium, advanced safety features, including electronic stability control, blind-spot
detection, and collision and lane shift warnings, became available in vehicles. Between 2010
and 2016, advanced driver assistance capabilities, such as rearview video cameras, automatic
emergency brakes and lane-centering assistance, emerged according to NHTSA.

Since 2016, self-driving cars have moved toward partial autonomy, with features that help
drivers stay in their lane, along with ACC technology and the ability to self-park.

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Fully automated vehicles are not publicly available yet and may not be for many years. In the
U.S., NHTSA provides federal guidance for introducing a new ADS onto public roads. As
autonomous car technologies advance, so will the department's guidance.

Self-driving cars are not yet legal on most roads. In June 2011, Nevada became the first
jurisdiction in the world to allow driverless cars to be tested on public roadways; California,
Florida, Ohio and Washington, D.C., have followed in the years since.

The history of driverless cars goes back much further than that. Leonardo da Vinci designed
the first prototype around 1478. Da Vinci's car was designed as a self-propelled robot
powered by springs, with programmable steering and the ability to run preset courses.

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Levels of Autonomous Vehicles
There are six different levels of automation and, as the levels increase, the extent of the
driverless car’s independence regarding operation control increases.
At level 0, the car has no control over its operation and the human driver does all of the
driving.
At level 1, the vehicle’s ADAS (advanced driver assistance system) has the ability to support
the driver with either steering or accelerating and braking.
At level 2, the ADAS can oversee steering and accelerating and braking in some conditions,
although the human driver is required to continue paying complete attention to the driving
environment throughout the journey, while also performing the remainder of the necessary
tasks.
At level 3, the ADS (advanced driving system) can perform all parts of the driving task in
some conditions, but the human driver is required to be able to regain control when requested
to do so by the ADS. In the remaining conditions, the human driver executes the necessary
tasks.
At level 4, the vehicle’s ADS is able to perform all driving tasks independently in certain
conditions in which human attention is not required.
Finally, level 5 involves full automation whereby the vehicle’s ADS is able to perform all
tasks in all conditions, and no driving assistance is required from the human driver. This full
automation will be enabled by the application of 5G technology, which will allow vehicles to
communicate not just with one another, but also with traffic lights, signage and even the
roads themselves.
One of the aspects of the vehicle technology used in automated vehicles is ACC, or adaptive
cruise control. This system is able to adjust the vehicle’s speed automatically to ensure that it
maintains a safe distance from the vehicles in front of it. This function relies on information
obtained using sensors on the vehicle and allows the car to perform tasks such as brake when
it senses that it is approaching any vehicles ahead. This information is then processed and the
appropriate instructions are sent to actuators in the vehicle, which control the responsive
actions of the car such as steering, acceleration and braking. Highly automated vehicles with
fully automated speed control are able to respond to signals from traffic lights and other such
non-vehicular activities.
If full automation were to be achieved, advocates of self-driving technology predict that it
would bring about increased road safety, as human error would have been eliminated from
driving. Self-driving car technology also has the potential to reshape land-use patterns,
increasing car sharing and eliminating the need for private parking spaces, as well as
expanding mobility for children, the elderly, and those with physical disabilities.

On the other hand, critics of autonomous technology predict that full automation could lead
to increased vehicle miles traveled, with a resulting increase in congestion and
environmental pollution. The elimination of driving could enable urban sprawl by making it
easier for commuters to live farther from their places of work.

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By 2023 vehicles with partially automated systems, including lane-keeping assist, adaptive
cruise control, and traffic jam assist, were on the market. Fully autonomous cars, however,
are not available for purchase or use. Predictions for the availability of this technology vary.
Stage 4 automation is predicted to be available to consumers by 2030–35.
including infrastructure, vehicles, and other road users, whether in direct visual view or not.
This leads to a safer environment for drivers, pedestrians, and cyclists.

TECHNOLOGY

Hybrid navigation

Hybrid navigation is the simultaneous use of more than one navigation system for location
data determination, needed for navigation.

Sensing

To reliably and safely operate an autonomous vehicle, usually a mixture of sensors is

utilized.Typical sensors include lidar (Light Detection and Ranging), stereo vision, GPS and
IMU.Modern self-driving cars generally use Bayesian simultaneous localization and mapping
(SLAM) algorithms, which fuse data from multiple sensors and an off-line map into current
location estimates and map updates.Waymo has developed a variant of SLAM with detection
and tracking of other moving objects (DATMO), which also handles obstacles such as cars
and pedestrians. Simpler systems may use roadside real-time locating system (RTLS)
technologies to aid localization.

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Maps

Self-driving cars require a new class of high-definition maps (HD maps) that represent the
world at up to two orders of magnitude more detail.In May 2018, researchers from the
Massachusetts Institute of Technology (MIT) announced that they had built an automated car
that can navigate unmapped roads.Researchers at their Computer Science and Artificial
Intelligence Laboratory (CSAIL) have developed a new system, called MapLite, which
allows self-driving cars to drive on roads that they have never been on before, without using
3D maps. The system combines the GPS position of the vehicle, a "sparse topological map"
such as OpenStreetMap (i.e. having 2D features of the roads only), and a series of sensors
that observe the road conditions.

Sensor fusion

Control systems on automated cars may use sensor fusion, which is an approach that
integrates information from a variety of sensors on the car to produce a more consistent,
accurate, and useful view of the environment.Self-driving cars tend to use a combination of
cameras, LiDAR sensors, and radar sensors in order to enhance performance and ensure the
safety of the passenger and other drivers on the road. An increased consistency in self-driving
performance prevents accidents that may occur because of one faulty sensor.

Path planning

Path planning is a computational problem to find a sequence of valid configurations that

moves the object from the source to destination. Self-driving cars rely on path planning
technology in order to follow the rules of traffic and prevent accidents from occurring. The
large scale path of the vehicle can be determined by using a voronoi diagram, an occupancy
grid mapping, or with a driving corridors algorithm. Driving corridors algorithm allows the
vehicle to locate and drive within open free space that is bounded by lanes or barriers. While
these algorithms work in a simple situation, path planning has not been proven to be effective
in a complex scenario.

Driver monitoring system

Driver monitoring system is a vehicle safety system to assess the driver's alertness and warn
the driver if needed. It is recognized in developer side that the role of the systems will
increase as SAE Level 2 systems become more common-place, and becomes more
challenging at Level 3 and above to predict the driver's readiness for handover.

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Advantages

Autonomous vehicle technology may be able to provide certain advantages compared to

human-driven vehicles. One such potential advantage is that they could provide increased
safety on the road – vehicle crashes cause many deaths every year, and automated vehicles
could potentially decrease the number of casualties as the software used in them is likely to
make fewer errors in comparison to humans. A decrease in the number of accidents could
also reduce traffic congestion, which is a further potential advantage posed by autonomous
vehicles. Autonomous driving can also achieve this by the removal of human behaviours that
cause blockages on the road, specifically stop-and-go traffic.
Another possible advantage of automated driving is that people who are not able to drive –
due to factors like age and disabilities – could be able to use automated cars as more
convenient transport systems.
Additional advantages that come with an autonomous car are elimination of driving fatigue
and being able to sleep during overnight journeys.

Uses of self driving vehicles

As of 2022, carmakers have reached Level 4. Manufacturers must clear a variety of
technological milestones, and several important issues must be addressed before fully
autonomous vehicles can be purchased and used on public roads in the United States. Even
though cars with Level 4 autonomy aren't available for public consumption, they are used in
other ways.

For example, Google's Waymo partnered with Lyft to offer a fully autonomous commercial
ride-sharing service called Waymo One. Riders can hail a self-driving car to bring them to
their destination and provide feedback to Waymo. The cars still include a safety driver in case
the ADS needs to be overridden. The service is only available in the Metro Phoenix area, San
Francisco and most recently Los Angeles as of late 2022 but is looking to expand to more
cities.

Autonomous street-sweeping vehicles are also being produced in China's Hunan province,
meeting the Level 4 requirements for independently navigating a familiar environment with
limited novel situations.

Projections from manufacturers vary on when Level 4 and 5 vehicles will be widely
available. A successful Level 5 car must be able to react to novel driving situations as well or
better than a human can.

decreased quality of life due to injuries, according to NHTSA.

In theory, if the roads were mostly occupied by autonomous cars, traffic would flow
smoothly, and there would be less traffic congestion. In fully automated cars, the occupants
could do productive activities while commuting to work. People who can't drive due to

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physical limitations could find new independence through autonomous vehicles and would
have the opportunity to work in fields that require driving.

Gps tracking system for autonomous vehicles

Self-driving car safety and challenges

Autonomous cars must learn to identify countless objects in the vehicle's path, from branches
and litter to animals and people. Other challenges on the road are tunnels that interfere with
the GPS, construction projects that cause lane changes or complex decisions, like where to
stop to allow emergency vehicles to pass.

The systems need to make instantaneous decisions on when to slow down, swerve or
continue acceleration normally. This is a continuing challenge for developers, and there are
reports of self-driving cars hesitating and swerving unnecessarily when objects are detected
in or near the roadways.

This problem was evident in a fatal accident in March 2018, which involved an autonomous
car operated by Uber. The company reported that the vehicle's software identified a
pedestrian but deemed it a false positive and failed to swerve to avoid hitting her. This crash
caused Toyota to temporarily cease its testing of self-driving cars on public roads, but its
testing will continue elsewhere. The Toyota Research Institute is constructing a test facility
on a 60-acre site in Michigan to further develop automated vehicle technology.

With crashes also comes the question of liability, and lawmakers have yet to define who is
liable when an autonomous car is involved in an accident. There are also serious concerns

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that the software used to operate autonomous vehicles can be hacked, and automotive
companies are working to address cybersecurity risks.

Carmakers are subject to Federal Motor Vehicle Safety Standards, and NHTSA reported that
more work must be done for vehicles to meet those standards.

In China, carmakers and regulators are adopting a different strategy to meet standards and
make self-driving cars an everyday reality. The Chinese government is beginning to redesign
urban landscapes, policy and infrastructure to make the environment more friendly for self-
driving cars. This includes writing rules about how humans move around and recruiting
mobile network operators to take on a portion of the processing required to give self-driving
vehicles the data they need to navigate. "National Test Roads" would be implemented. The
autocratic nature of the Chinese government makes this possible, which bypasses the litigious
democracy that tests are funneled through in America.

Conclusion
As technology expands throughout the world, self-driving cars will become the future mode
of transportation universally. The legal, ethical, and social implications of self-driving cars
surround the ideas of liability, responsibility, and efficiency. Autonomous vehicles will
benefit the economy through fuel efficiency, the environment through reduced carbon
emissions, society through more togetherness, and the legal system through a simpler system
of liability. However, these ideas revolve around two central aspects of autonomous vehicles:
how they work and how they are kept secure. As technology advances, the security
technology regarding self-driving cars will also continue to grow to combat hackers, improve
the accuracy of internal systems, and prevent accidents.

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