[자율주행 스터디] Introduction to Self-Driving cars - Week 1-1

Week 1

Course info.

• https://www.coursera.org/learn/intro-self-driving-cars?
  • UNIVERSITY OF TORONTO

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Lesson 1. Taxonomy of Driving

Contents

• Basic definitions
• Requirements for automoation classification
• The driving test
• Taxonomy for driving automation (levels)
• Limitations of this taxonomy

Dictionary

Taxonomy : 분류, 분류 체계

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Terms and Definitions

• Driving test
  • Perceiving the environment (주위 환경 인식)
  • Planning how to reach from A to B (출발지에서 목적지까지 어떻게 갈 것인가)
  • Controlling the vehicle (차량 제어)
• Operational Design Domain (ODD) (-> 여전히 잘 와닿지 않지만, 작동이 가능한 영역 정도로 이해하면 될 것 같다)
  • Need to carefully plan

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How to classify driving system automation?

• Driver attention requirements (운전자가 주의 집중을 해야하는지)
• Driver action requirements (운전자가 운전에 개입해야하는지)
• What exactly makes up a driving test? (Driving test는 어떻게 구성되어있는가)
  • Lateral control (횡방향 제어)
    • Steering
  • Longitudinal control (종방향 제어)
    • Braking, accelerating
  • Object and Event Detection and Response (OEDR) (주위 환경 및 사건을 감지하고 반응)
    • Detection and Reaction
  • Planning (경로 계획)
    • Long-term
    • Short-term
  • Miscellaneous

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Autonomous Capabilities

• Automated lateral control?
• Automated longitudinal control?
• OEDR
  • Automatic emergency response (긴급 상황에서 자동으로 대응할 수 있는가)
  • Driver supervision (운전자의 개입)
• Complete vs Restricted ODD

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Level of driving system automation

Level 0 - No Automation

• Regular vehicles (일반적인 차량에 해당)

Level 1 - Driving assistance

• Either, but not both (종방향과 횡방향 중에 하나만 자동화)
  • Longitudinal control
    • e.g. Adaptive Cruise Control(ACC)
      • can control speed, drivier has to steer
  • Lateral control
    • e.g. Lane Keeping Assistance (LKA)
      • can help you stay in your lane, if you drift

Level 2 - Partial driving automation

• Both (종방향 횡방향 둘 다 자동화)
  • Longitudinal control and Lateral control
    • e.g.
      • GM Super Cruise
      • Nissan ProPilot Assist

Level 3 - Conditional driving automation

• Automation for
  • Longitudinal control, Lateral control, and OEDR
    • Includes automated Object and Event Detection and Response (OEDR)
    • Driver doesn't need to pay attention in certain circumstance
      • but id driver's intervention is needed, vehicle gives alerts to driver.
      • (특정 상황에서는 마음놓고 타는게 가능하지만, 운전자의 개입이 필요한 상황에서는 알림 제공)
    • e.g. Audi A8 Sedan

Level 4 - High driving automation

• Automation for
  • Longitudinal control, Lateral control, OEDR, and Fallback (실패 상황 대응)
    • Handles emergencies autonomously.
    • Driver can entirely focus on other tasks
      • but in Limited ODD
      • (제한된 영역에서만 자율 주행 가능)
    • e.g. WAYMO

Level 5 - High driving automation

• Automation for
  • Longitudinal control, Lateral control, OEDR, and Fallback in Unlimited ODD
  • (모든 영역에서 자율 주행 가능)