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3/2/13

ME302 Advanced Driver Assistance


Lecture 4
Jan Becker, Ph.D.

Lecturer, Stanford University
Senior Manager, Robert Bosch LLC

02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

Schedule (tenta:ve)
Date

1/7

1. Introduction to Driver Assistance

1/14

2. Vehicle Stability Systems

1/21

Lecture

Assignment

MLK day: no lecture

1/28

3. Radar + Lidar sensors, Systems 1 *

assignment 1 due *

2/4

4. Computer Vision, Systems 2 *

assignment 2 due *

2/11

5. Legal Aspects and Seminar Discussion: Needs


and Challenges of Driving Automation *

2/18

Presidents day: no lecture

2/25

6. Other Systems, e.g. ultrasonic-based systems, assignment 3 due


safety, restraint systems *

3/4

7. Outlook: Automated Driving and Future


Systems

3/11

8. Vehicle demo

* changed
02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

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Assignment
1 out of 3 assignments must to be completed
"Drive or be driven? Discuss the fun of driving versus
the convenience of driver assistance.
one-page essay, due 1/28 at 2:15pm.

"The value of driver assistance? Discuss the value of


driver assistance systems for you personally.
one-page essay, due 2/4 at 2:15pm.

"The vision of vehicle automa:on? Discuss how you


envision vehicle automa:on of the future.
one-page essay, due 2/25 at 2:15pm.

Details: me302.stanford.edu
please submit by email to jbecker@ai.stanford.edu and
beiker@stanford.edu
02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

Recap Last Lecture


AutomoUve Radar
Radar-based Driver Assistance FuncUons
AdapUve Cruise Control
Forward Collision Warning
Blind Spot DetecUon

02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

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Overview
Lidar
Measurement Principle
Sensor Variants

AutomoUve Camera Systems


Technologies
ApplicaUons

02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

Lidar
Light detecUng and ranging
Lidar Principle
Distance Measurement: Ume of ight
Angular Measurement
scanning lidar
laser pulse is reected by a rotaUng mirror
distance measurements at specied angle intervals
non scanning lidar
mulU-beam
mulU-receiver
none

02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

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Lidar
Measurement principle
of scanning lidar

source: h_p://
upload.wikimedia.org/
wikipedia/commons/c/c0/
LIDAR-scanned-SICK-LMS-
animaUon.gif

02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

Lidar
Sensor Variants
ModulaUon: pracUcally all lidar sensors use pulse modulaUon
Angular Measurement
Fixed mulU-beam sensors
Hella

Conti

mechanically scanning mirrors


Denso
IBEO

moving opUcs
Conti

Omron

Velocity: EsUmaUon
02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

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Lidar
ApplicaUon Example: Volvo City Safety

source: h_p://www.youtube.com/watch?v=07JUGmiEcGQ

02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

Lidar
Sensor Example:
Lidar sensor A.D.C. AIS100
Wavelength
Eye safety
emi_ed power


percepUon range




beams
range

size

velocity accuracy

850nm
class 1 (IEC825)
12W peak
5mW average
11 (Azimut/hor.)
3 (ElevaUon/vert.)
sweep
5
1 to 180m
180x89x60mm
~1km/h

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source: A.D.C.

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Lidar
Sensor Example:
Lidar sensor Denso
percepUon range 8 (Azimuth /hor.)


2,2 (ElevaUon/vert.)


2D-scanning
series sensor in some Toyota models
in Japan
source: Denso

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Lidar
Sensor Example:
Lidar sensor A.D.C. AIS200
Wavelength
905nm
Eye safety
class 1 (IEC825)
emi_ed power
40W peak


3,5mW average
percepUon range 15 (Azimut/hor.)


6,5 (ElevaUon/vert.)


scan
beams
15-30
angular resoluUon 0.01 degrees
range

1 to 180m
size

180x89x60mm
velocity accuracy ~1km/h
02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

source: A.D.C.

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Lidar
Sensor Example:
Lidar sensor Ibeo Alasca

Laser class: Class 1, Eye safe


Wave length: 905 nm
Range: 200m
Scan frequency: 12.5 Hz or 25 Hz
Wide horizontal angle: 240 eld of view
ResoluUon: range 4cm, angle 0.1 to 1
4 parallel scanning layers
verUcal eld of view of 3.2

source: Ibeo

not used in series vehicles so far

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Lidar
Sensor Example:
Lidar sensor Ibeo Lux

Laser class: Class 1, Eye safe


Wave length: 905 nm
Range: 200m
Horizontal eld of view: 110
VerUcal eld of view: 3.2
4 parallel scanning layers

not used in series vehicles so far

02/04/2013 | ME302 Advanced Driver Assistance | Jan Becker | Stanford University

source: Ibeo

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Lidar

source: h_p://www.youtube.com/watch?v=IK29M22teJE
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Lidar
MulU-Beam Lidar Development

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Lidar

h_p://www.youtube.com/watch?v=uoiJeIb0wBA
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Lidar

h_p://www.youtube.com/watch?v=uoiJeIb0wBA
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Lidar
Velodyne Lidar HDL-64E S2
64 xed mounted laser
laser head is rotaUng
horizontal eld of view: 360
verUcal eld of view: 26.8
scan rate 5-15Hz
Data sheet:
h_p://velodynelidar.com/lidar/products/
brochure/HDL-64E
%20S2%20datasheet_2010_lowres.pdf

source: Velodyne
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source: Velodyne

Lidar

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source: Stanford Racing Team

Lidar

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Lidar
Why has Lidar not been successful (so far)?

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Computer Vision
ApplicaUon Areas of AutomoUve Cameras
Rear Camera
Parking aid
Collision
miUgaUon/
avoidance

Front Camera
Longitudinal control
Lane keeping
Collision miUgaUon
Collision avoidance
Night vision
Headlamp Control
Interior Camera
Passenger detecUon
Alertness monitoring
Thes protecUon

Surround Camera
Parking aid
Maneuvering aid

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Computer Vision
Camera Types
Mono Camera

Bosch

ConUnental

Bosch

ConUnental

Stereo Camera

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Computer Vision
Components
lens

imager

ECU

source: Bosch

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Computer Vision
Imager
CCD

CMOS
photo diode

row
adressing

select transistor

row data line


column select
column addressing

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Computer Vision
Imager Types (CMOS / CCD)
linear CCD sensor

nonlinear CMOS sensor

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Computer Vision
Night Vision

NIR camera view (0,75 m 1.4 m)

FIR camera view (8 m - 10 m)

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Computer Vision
NIR Night Vision

source: h_p://www.youtube.com/watch?v=DojthARCO6k
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Computer Vision
FIR Night Vision

source: h_p://www.youtube.com/watch?v=-3uaTyNWcBI
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Computer Vision
Lane Departure Warning

source: h_p://www.youtube.com/watch?v=GSzEi8dlFIc
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Computer Vision
Lane Keeping Support

source: h_p://www.youtube.com/watch?v=GdtVe1Pnayg
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Computer Vision
Road Sign RecogniUon

source: h_p://www.youtube.com/watch?v=ZaHuy5WhKAE
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Computer Vision
Rear Camera Parking Aid

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Computer Vision
Displacement
A displacement vector
connects the projecUons
of a 3D point in the world
in two images
Displacement in image
sequences is also called
2D moUon
Displacement in stereo
image pairs is called
disparity

example:
image sequence

image 1

inter-frame
motion

image 2
displacement
field

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Computer Vision
Stereo Vision
TriangulaUon:



Requires recUcaUon!

base width
les image

right image

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Computer Vision
3D reconstrucUon of a trac scene captured by a
stereo camera system

source: h_p://www.6d-vision.com/home/stereovision
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Computer Vision
OpUcal Flow Temporal displacements of image points
in an image sequence

source: h_p://www.6d-vision.com/home/opUscheruss
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Computer Vision
OpUcal Flow Temporal displacements of image points
in an image sequence

source: h_p://www.6d-vision.com/home/opUscheruss
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Computer Vision
Example ApplicaUon: AutomaUc evasive maneuver

source: h_p://www.6d-vision.com/home/bedeutung
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Computer Vision
Example Pedestrian DetecUon

opUcal ow

stereo disparity

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opUcal ow +
stereo disparity

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Summary
Lidar
Measurement Principle
Sensor Variants

AutomoUve Camera Systems


Technologies
ApplicaUons

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Outlook
Next lecture
Monday, 2/11/2013, 2:15pm
Bryant Walker Smith: Legal Aspects of Vehicle AutomaUon
Seminar Discussion: Needs and Challenges of Driving
AutomaUon

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