DARPA Grand Challenge

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DARPA Grand Challenge
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2007 DARPA Urban Challenge

• The 2007 DARPA Urban Challenge is
• A vehicle race through a mock city
• The course is unknown until raceday

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2007 DARPA Urban Challenge
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Previous Challengers
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Previous Challenges.(Even for the most
competitive teams)
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2007 Technical Challenges

• Adding new sensor hardware
• GPS Inertial is required, but in no way
  sufficient
• Teams provided a stream of GPS (latitude
  longitude) waypoints just prior to start.
• Waypoints guide vehicle along roads
• Key software for sensor integration, route
  mapping, higher level vehicle control and
  collision avoidance
• Creating terrain map from fused sensor data while
  vehicle is going over bumps is tricky
• Need to sense far ahead in order to safely
  navigate at 30 MPH
• Need to detect static and dynamic obstacles
  around vehicle
• Need to obey traffic laws, re-plan

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Where are we today?

• Qualified for semifinals!
• Have solid rules-compliant Vehicle AI framework
• Accurate sensing
• Working on control software

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Autonomous Vehicle Control Loop
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