These slides use concepts from my (Jeff Funk) course entitled analyzing hi-tech opportunities to analyze how autonomous vehicles are becoming economic feasible. They are becoming economically feasible because the cost of lasers, ICs, MEMS, and other electronic components are falling at 25 to 40% per year. If the cost of autonomous vehicles fall 25% a year, the cost of the electronics associated with autonomous vehicles will fall 90% in 10 years. Dedicating roads to autonomous vehicles is necessary to achieve the most benefits from autonomous vehicles. While using autonomous vehicles in combination with conventional vehicles can free drivers for other activities, dedicating roads to autonomous vehicles can dramatically reduce congestion, increase speeds, and thus increase the number of cars per area of the road. They can also reduce accidents, insurance, and the number of traffic police. These slide discuss the use of wireless technologies for the control and coordination of autonomous vehicles. Improvements in bandwidth, speed, and latency (delays) along with improvements in computer processing are occurring and these improvements are making dedicated roads for autonomous vehicles economically feasible.

1. Autonomous Vehicles and Smart Infrastructure
Timothée Le Quesne –A0133779R
Daniel Lollo -A0133497X
Han Thu Win -A0133490L
Rishit Panigrahi -A0132416R

2. Introduction
Autonomous technology has already achieved a high degree of development.
Technology is emerging gradually but continually, with new opportunities
Technical and Economic feasibilities AVs and Dedicated Roads will be discussed.

3. Implementation by Stages (AVs, Roads)
Even though so much research and improvements in AVs have been put in place, we need to focus on the infrastructure for AVs as well

4. Integrated Features & Technologies(MEMS, Lasers, Radars, Lidars, Sensors, GPS, Ultrasound, Cameras, Communication & Networking)
Major Features
Functions & Technologies Associated
Benefits
Autonomous Emergency Braking (AEB)
Adaptive Cruise Control (ACC)
Lane Keeping Assist
Automatic parking
Networking (V2V, V2I towards V2X)
Detects Obstacles (Radar, Lidar)
Maintains a safe distance from car in front (Radar, Laser, Camera Sensor)
To detect lane markings, to warn driver, to auto-correct positioning (Laser, Video Sensor, IR sensors)
Automatic parking for parallel/ right-angle parking spaces (Sensors, Memory Chips)
Vehicle-to-Vehicle (V2V)
Vehicle-to-Infrastructure (V2I)
AEB reduces accident by 27%
Change/ maintain the speeds automatically, reduce crashes
Allows driver to be ‘hands-free’
Driver can get out of the car and command the car to park itself, smart phone command can be used
Share info, Prevent collision, consistent speed in road-train traffic

5. Pros and Cons of Technologies in Development
http://www.dirdim.com/prod_laserscanners.htm

6. Pros and Cons of Technologies in Development

7. Path to Technology Convergence (Hurdles to Overcome)
http://www.kpmg.com/US/en/IssuesAndInsights/ArticlesPublications/Documents/self-driving-cars-next-revolution.pdf
Improved Positioning Technology: High-Resolution Mapping:
Reliable and Intuitive Human Machine Interface (HMI):
Standardization

8. Path to Technology Convergence (AVs + Roads)
•Can we achieve a safe, self-driving vehicle on the dedicated roads/ infrastructure?
•Yes. Google and other automakers had done it before… but on the Vehicle Technology only..
•What’s missing?
•The convergence of technologies(Combined Infrastructure)
http://www.kpmg.com/US/en/IssuesAndInsights/ArticlesPublications/Documents/self-driving-cars-next-revolution.pdf

9. Autonomous Vehicles are conceived to adapt to current road

10. but we can also imagine specific highways entirely dedicated to these vehicles

11. What are the features needed?

12. We need then:
1.Adapted to higher speedlimit (less curves..)
2.Less need of parking slots (cars can just drop off users)
3.Reduction of physical road signage, replace it by wireless communication

13. 4.Centralizedmotion planning that communicate with all the sensors and all the vehicles
5.Decentralizedsolution

14. Cooperation vs. Autonomy
source: UC Berkeley

15. Autonomy Solution
●Every single car does its own trajectory calculation in function of the cars surrounding it.
●Roads transmit them the entire informations regarding the road map.

16. Autonomy Solution
The roads only need communication to system: Car/Road
●Continuous communication
●Cover all the road
●Fast enough (<1s)

17. Communication system Car/Road
Wireless communication
●long-range wifi: not enough scope (32 m)
●Cellular data services: good latency (5ms)
●Mobile Satellite Communication: bad latency (650ms)

18. Expected rate of improvement
10% improvement each year

19. Sensor Limitation
To improve safety we need to accumulate the number of sensors wich increase cost and vulnerabilities because of the complexity
Cooperation systems can be a solution

20. Autonomous solution: easier to propose but...
...Cooperation system advantages are interesting:
●Lower prices (less sensors)
●Current and planned actions (better flows)
●Identification of hazards
●Earlier and safer responses possible

21. Cooperation Solution
Central Computer
Car
request destination
Send destination
Send optimized trajectory
Send new opt. trajectory
calculate the trajectory
Receive/
Send instructions
Servo travel
Detect entering car
Detect disturbance

22. Detecting Entry Car ?
●Car must be detected and tested
○to ensure it is an AV
○car must submit a travel plan
●Barriers at the entry with wireless detection (like in Highways)
○The technology already exists

23. Centralized Roads
We need:
●Communication system Car/Road
●Processing power
●Disturbance detection system

24. What is the Algorithm?
On-Road Motion Planningfor Autonomous Vehicles research by Gu and Dolan from Carnegie Mellon University
●optimal trajectory use use Dijkjtra and A* algo
●lane-based trajectory generation by rolling out trajectories based on lateral shifts from the lane centerline

25. Processing Power
●Dijkstra complexity
●100 km highway
●200 km/h medium speed

27. 2014 prices of HP cloud compute services: 0,012$/GHz/min
Google car current expected price:
320 000 $

28. ●5 car/sec
●Moore’s law
●2014 prices of HP cloud compute services

30. Disturbance detection system
●Global navigation satellite systems: 10 m precision
●Regional systems: old tech and bad precision
●Diferential GPS, Satellite and base system: 10 cm

31. Expected rate of improvement

32. What could Vinci do to construct autonomous roads?
The goal of Vinci wouldn’t be to manufacture autonomous vehicles, but to coordinate all vehicles on the roads.

33. What could Vinci do to construct autonomous roads?
It is very difficult and expensive to construct new roads. It is much easier to adapt current roads to autonomous vehicle:
The first step is to connect every car to the network
➔Cellular data services on roads, free connection of every car to the network
➔Differential GPS for every car

34. What could Vinci do to construct autonomous roads?
The second step is to analyse all these datas
➔Data center : collect data from every car and centralize it
➔Big data algorithms to take the best decision in real time for every car

35. What could Vinci do to construct autonomous roads?
The third step is to send all the individual answers to every car
➔Cellular data services on roads, free connection of every car to the network
➔The car doesn’t only “see” what is around, but sees what is 100km forehead too.

36. What could Vinci do to construct autonomous roads?
Other costs for Vinci :
➔Need higher surfacing quality (for higher speed)
➔Need less curves and less differences in high
➔Need infrastructure to secure the network (pirating risk must be 0)

37. What could Vinci do to construct autonomous roads?
Earnings for Vinci
➔More cars/second on roads
➔Less accidents
➔Dominant design

38. Enterpreneurial Opportunities for Smart Infrastructure
More than the vehicle manufacturers and vehicle component manufacturers who automatically join the fray when Autonomous Vehicles become the future, we shall discuss how the businesses which contribute to the dedicated/ smart roads for the AVs stand to gain in this process.

39. Enterpreneurial Opportunities for Smart Infrastructure
1.Solar Roads –Solar Panels
2.Pressure Sensors on roads

40. Enterpreneurial Opportunities for Smart Infrastructure
3.Recycled Tempered Glass
4.Damage Sensors

41. Enterpreneurial Opportunities for Smart Infrastructure
5.Smart Street-Lights

42. Enterpreneurial Opportunities for Smart Infrastructure
6.Re-fuel on the go
7.Dynamic Road Signages
https://www.youtube.com/watch?v=qlTA3rnpgzU