Introduction
Amrik Singh Phuman Singh
Faculty of Mechanical Technology and Engineering
Universiti Teknikal Malaysia Melaka
Learning Outcomes
❑At the end of this course, students should be able to
o Explain the fundamental concept and theory in
autonomous vehicle as well as the features and function of
sensors and actuators involved
o Create and evaluate control system for autonomous vehicle
system
o Apply and analyze fundamental methods in autonomous
vehicle, such as motion planning, obstacle avoidance,
localization and mapping using simulation software
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What is autonomous driving?
What is autonomous driving?
❑ Autonomous driving (also called self-driving) refers to a vehicle’s ability
to operate and navigate without human input
❑ Autonomous vehicles rely on several key technologies:
o Control systems: Execute actions like steering, braking, and
accelerating
o Sensors: Cameras, radar, lidar, and ultrasonic sensors detect
surroundings (cars, pedestrians, roads)
o Mapping & GPS: High-definition maps and positioning systems help
with navigation
o AI & Machine Learning: Systems interpret sensor data and make
driving decisions
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Benefits of autonomous driving?
❑ Benefits:
o Reduced human error (fewer accidents)
o Increased convenience
o Improved mobility for elderly or disabled people
o Potential for less traffic congestion
o Reduced the number of cars (cars are parked most of the time)
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Sense-Think-Act (Bosch)
Sense-Think-Act (Bosch)
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Co-Pilot and Auto-Pilot Types ADAS
Advanced Driver Assistance Systems
❑ Functions of ADAS
o prevent traffic accidents
o improve driving convenience as well as comfort
o increase traffic and fuel efficiency
❑ ADAS assists human drivers to maintain safe driving in
the form of
o information provision
o warning by auditory, visual or haptic types
o control intervention
❑ Two types of ADAS in the context of control intervention:
o Co-Pilot ADAS
o Auto Pilot ADAS
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Co-Pilot ADAS
❑ Co-pilot type ADAS acts in parallel with the human driver
❑ Human driver has the full authority over steering,
acceleration and braking
❑ Co-Pilot ADAS can monitor in real time the human driver
behavior to adapt the intensity of control intervention
Co-pilot ADAS (Nagai and Raksincharoensak, 2019)
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Auto-Pilot ADAS
❑ Auto-pilot ADAS replaces human driver
❑ Human driver is responsible for monitoring the system
control behavior
❑ Human driver will take over the ADAS in difficult
situations
Auto-pilot ADAS (Nagai and Raksincharoensak, 2019)
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Example ADAS
❑ Automatic parking can automatically park the vehicle
Automatic parking (Denton, 2020)
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Example ADAS
❑ Adaptive cruise control (ACC) can automatically adjust
the vehicle speed
Adaptive cruise control (Denton, 2020)
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Example ADAS
❑ Lane keeping aid guides the driver to keep the vehicle in
the lane
Lane keeping aid (Jacobson, 2020)
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Levels of Driving Automation (SAE)
Levels of Driving Automation (SAE)
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Level 0 - No Driving Automation
NO Lateral NO Longitudinal control
control (acceleration/braking)
(steering)
❑ The steering and acceleration/braking tasks are
performed by human driver
❑ Driver support features
o Automatic emergency braking (AEB)
o Blind spot warning
o Lane departure warning
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Level 1 – Driver Assistance
Lateral control Longitudinal control
(steering) (acceleration/braking)
OR
❑ Either steering or acceleration/braking is provided by the
driver support features
❑ Driver support features
o Lane centering
o Adaptive cruise control
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Level 2 – Partial Driving Automation
Lateral control Longitudinal control
(steering) (acceleration/braking)
AND
❑ Both steering and acceleration/braking are provided by
the driver support features
❑ Driver support features (at the same time)
o Lane centering
o Adaptive cruise control
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Level 3 – Conditional Driving Automation
Lateral control Longitudinal control
(steering) (acceleration/braking)
❑ When the automated driving features are engaged,
human driver is not driving
❑ When the feature requests, the human driver must take
over the control
❑ These features can drive under limited conditions
❑ Automated driving features
o Traffic jam chauffeur (e.g. Honda Sensing Traffic Jam
Assist, Mercedes-Benz Drive Pilot)
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Level 4 – High Driving Automation
Lateral control Longitudinal control
(steering) (acceleration/braking)
❑ When the automated driving features are engaged,
human driver is not driving
❑ These features will not require human driver to take over
the control
❑ These features can drive under limited conditions
❑ Automated driving features
o Local driverless taxi (e.g. Waymo robotaxis, Cruise
Origin)
❑ Pedals/steering wheel may or may not be installed
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Level 5 – Full Driving Automation
Lateral control Longitudinal control
(steering) (acceleration/braking)
❑ When the automated driving features are engaged,
human driver is not driving
❑ These features will not require human driver to take over
the control
❑ This feature can drive the vehicle under all conditions
❑ Automated driving features same as Level 4 but can
drive everywhere in all conditions
❑ Pedals/steering wheel may or may not be installed
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References
1. Denton, T. (2020). Automated Driving and Driver
Assistance Systems, Routledge.
2. Jacobson, B. (2020). Vehicle Dynamics Compendium,
Chalmers University of Technology.
3. Nagai, M. and Raksincharoensak , P. (2019). Vehicle
Dynamics of Modern Passenger Cars (Chapter:
Advanced Chassis Control and Automated Driving),
Springer.
Amrik Singh