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7 Steering Committee Thomas Form Peter Hecker Marcus Magnor Bernhard Rumpe Walter Schumacher Lars Wolf Fred Rauskolb (Formal Team Leader) QA/Simulation Christian Berger Christian Basarke Tim Gülke Bernhard Rumpe (Project Leader) Christian Berger (Team Leader) Thomas Form (Technical Project Leader) Marketing/PR Joop Flack Hendrik Stöcker Manuel Juhrs Perception&Sensors Jan Effertz Fabian Graefe Sebastian Ohl Christian Lipski Wojciech Derendarz Kai Berger Felix Klose Reasoning&Planning Kai Homeier Tobias Nothdurft Christian Basarke Sebastian Ohl Andreas Donners Andre Steinert Vehicle Control/ Hardware Jörn Marten Wille Karsten Cornelsen Michael Doering Johannes Morgenroth

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15 CAN Ethernet CAN ECU ECU Front Data Acquisition Object Data front Tracking + Data Fusion rear Object Data Rear Data Acquisition ECU ECU Drivability, Height Profile Classification Stereo Preprocessing Grid Fusion Color Analysis Surface Data, Classification Surface Data Laserscanner Front Laserscanner Rear Radar Front Radar Rear Lidar Front Lidar Rear Data Acquisition, Timestamping and Transformation Fusion Input Queue Sensor Sweeps Data Association Pretracking Extended Kalman Filter Track Managment Pretrack Database Pretrack ID 0 Pretrack ID 1 Pretrack ID 2... Pretrack ID 3 Track Initialization Track Database Track ID 0 Track ID 1 Track ID 2... Track ID 3

16 w i,j = a min[ x i k x j l, k, l]+b v i v j w i,j i j v i v j x i k xj l k th l th i j a b

17 Ω= x i 1 x j 1... x i 1 x j l x i k xj 1... x i k xj l x 6D = x 1...n y 1...n v a α ω x 1...n y 1...n

18 x 4D = x 1...n y 1...n v a y y = x 1...m y 1...m v x v y x 1 y 1 v x v y x y x x k (v +1 v) =f(x k (v)) P (v +1 v) =F T P F + Q s k,l = y l (v +1) h(x k (v +1 v)) S(v +1)=H P (v +1 v) H T + R K(v +1)=P (v +1 v) H T S(v +1) 1 r k,l (v +1)=K(v +1) s k,l (v +1) x k k f(x) P F Q s k,l k l y l l h(x) S H R K r k,l k l r k,l r k,l N r mean = 1 N k,l=1 r k,l

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20 a O(a)

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22 sensor origin new values old values target point m c(a) =m c (A) m m (A) = 1 1 K B C=A m c (B)m m (C), m c m m m c A B C K = B C= m c (B)m m (C). K m m P d

23 D U N D max m m (D) = D max P d, m m (N) = (1 D max ), m m (U) = 1 m m (D) m m (N). + h x y m m (D) = m m (U) = D max, h x y G Dmax 0, G Dmax < h x y G Umin 0, h x y >G Umin 0, h x y G Dmax ( ) U max h G Umin G Dmax x y G Dmax, G Dmax < h x y G Umin U max, >G Umin m m (N) = 1 m m (D) m m (U), h x y

24 D max U max G Dmax G Umin

25 f ego : p car p world p world p car I tele > I middle > I left > I right v diff v diff = v max v min b high b low b low b diff b high

26 b high l i w i d i = α i α i 1 s i c 0 d i p i α i l i f ego : p car p world l p

27 t con,t hist,t dir q a {0, 22.5,..., 157.5} c {white, yellow, undecided} t col v diff = v max v min v max v min v diff <t con b diff = b high b low b diff <t hist b high b low r max p high a max R b high p high i =0;i<= 157.5; i = i p high R i r = Var(X) Var(Y ) r max <t dir q white = b diff q yellow = b diff a white = a max a yellow = a max q white >t col q white >q yellow c = white a = a white q yellow >t col q yellow >q white c = yellow a = a yellow q = max(q white,q yellow )

28 b low b high b high

29 s 0 s f s f s i α i s i outer lef t lef t right outer right s f s i α i w i p x p y p i s i d i g i = m i /l i w i g i w i n s i q outer left left right outer right t q s i+1

30 s i α i p i α i l i l gap s i

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32 P Scanner

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34 min(r,g) B 1

35 t t +1 x p(x, y) y max P boundary P bumper

36 P bumper P bumper pixelsum weightedp ixelsumx weightedp ixelsumy pixelsum x weightedp ixelsumx y weightedp ixelsumy P bumper P bumper x moment = weightedp ixelsumx pixelsum y moment = weightedp ixelsumy pixelsum x x moment y moment P bumper y x moment y moment P bumper P bumper P bumper P boundary P bumper x moment y moment x moment =0 y moment =0 x moment =0 P bumper y moment P bumper P boundary x moment 1 1

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39 -0.1 obstacle startpoint 0 curvatures obstacle +0.1 vote

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41 Planned Trajectory Points Queue Interrupt Intersection Interrupt v STOP s

42 a) d) b) c) M M α A n M ṅ M M M (α A,n M, ṅ M )= r η k i k (f R mg+ c w A ρ 2 (n M 2 πr 0 i k ) 2 + λmṅm 2 πr 0 i k ) T =0.6s P (s) = 1 s (T s+1)

43 R 0 r η k i k f R m g c w A ρ λ K(s) K(s) Upper Controller Throttle adesired K(s) Lower Controller Throttle vdesired Caroline Dynamics a v K(s) Upper Controller Brake adesired K(s) Lower Controller Brake

44 Engine Map Engine Torque in Nm Throttle in percent Engine Speed in RPM Actual Speed Desired speed Example Actual Speed Desired speed Example 2 Speed v in m/s Speed v in m/s Time t in sec Time t in sec

45 l l VA F xv V l HA SP v F yv F xh Fzent mv ( ) F yh (t) =A (t)+b (t)+e (t), (0) = 0 κ ζ desired v ζ desired = κ v ψ ψ rel ζ desired ψ rel = ψ ζ desired

46 ψ rel ψ rel = ψ κv β ψ rel d v d = v (β + ψ rel ) δ δ desired T L ψ β ψ rel d κ ψ β ψ rel d δ = a 11 a a 15 a 21 a a v v T L ψ β ψ rel d δ i L T L δ desired v 0 0 κ a 11 = c αv l 2 V + c αh l 2 H θv a 21 = 1 c αv l V c αh l H mv 2, a 12 = c αv l V + c αh l H, a 15 = c αv l V θ θ, a 22 = c αv + c αh, a 25 = c αv mv mv d (t) = ( ) T (t) F c (s) = i L T L s +1 a25s 2 +(a 15 a 21 + a 15 a 25 a 11 ) s +(a 25 a 12 a 25 a 12 ) 1 s 2 (a 11 + a 22 )s +(a 11 a 22 a 12 a 21 ) s v s F noise = v s v s

47 c αv c αh l V l H θ m δ x y ψ K(s) Pilot Control Desired Trajectory d K(s) Track Error Position and Orientation K(s) Track Angle κ 0 20 v =50

48 200 Trajectory Final Position 170 y Position in m Starting Position x Position in m

49 50 Speed Profile of the Track 0.5 Track Error Speed in km/h Track Error in m Time in sec Time in sec

50 Car PC Vehicle Controller Watchdog monitoring heartbeats sending autonomous mode demands CAN controller CANlog III monitoring communication monitoring actorics state generating vehicle state message vehicle information CAN powertrain CAN actorics steering braking throttle gear communication interface controlling emergency brake horn / warning beacon controlling horn, flashing beacon vehicle power vehicle starter emergency/parking brake controlling vehicle power, starter connect go disable

51 pc 1 slave daemon 1 process 1 pc n... slave daemon 2 process 1 watchdog pc slave daemon n wd master process 2 start kill heartbeat process 2 start kill heartbeat process 2 start kill heartbeat process n process n process n controller CAN heartbeat/reset/suspend TCP/IP relaisbox for power shutdown actorics CAN gateway

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73 Technische Universität Braunschweig Informatik-Berichte ab Nr T.-P. Fries, H. G. Matthies A Stabilized and Coupled Meshfree/Meshbased Method for the Incompressible Navier-Stokes Equations Part II: Coupling H. Krahn, B. Rumpe Evolution von Software-Architekturen O. Kayser-Herold, H. G. Matthies Least-Squares FEM, Literature Review T. Mücke, U. Goltz Single Run Coverage Criteria subsume EX-Weak Mutation Coverage T. Mücke, M. Huhn Minimizing Test Execution Time During Test Generation B. Florentz, M. Huhn A Metamodel for Architecture Evaluation T. Klein, B. Rumpe, B. Schätz (Herausgeber) Tagungsband des Dagstuhl-Workshop MBEES 2006: Modellbasierte Entwicklung eingebetteter Systeme T. Mücke, B. Florentz, C. Diefer Generating Interpreters from Elementary Syntax and Semantics Descriptions B. Gajanovic, B. Rumpe Isabelle/HOL-Umsetzung strombasierter Definitionen zur Verifikation von verteilten, asynchron kommunizierenden Systemen H. Grönniger, H. Krahn, B. Rumpe, M. Schindler, S. Völkel M. Conrad, H. Giese, B. Rumpe, B. Schätz (Hrsg.) Handbuch zu MontiCore Ein Framework zur Erstellung und Verarbeitung domänenspezifischer Sprachen Tagungsband Dagstuhl-Workshop MBEES: Modellbasierte Entwicklung eingebetteter Systeme III J. Rang Design of DIRK schemes for solving the Navier-Stokes-equations B. Bügling, M. Krosche Coupling the CTL and MATLAB C. Knieke, M. Huhn Executable Requirements Specification: An Extension for UML 2 Activity Diagrams T. Klein, B. Rumpe (Hrsg.) Workshop Modellbasierte Entwicklung von eingebetteten Fahrzeugfunktionen, Tagungsband H. Giese, M. Huhn, U. Nickel, B. Schätz (Hrsg.) R. van Glabbeek, U. Goltz, J.-W. Schicke M. V. Cengarle, H. Grönniger B. Rumpe M. V. Cengarle, H. Grönniger B. Rumpe M. Broy, M. V. Cengarle, H. Grönniger B. Rumpe C. Basarke, C. Berger, K. Berger, K. Cornelsen, M. Doering J. Effertz, T. Form, T. Gülke, F. Graefe, P. Hecker, K. Homeier F. Klose, C. Lipski, M. Magnor, J. Morgenroth, T. Nothdurft, S. Ohl, F. Rauskolb, B. Rumpe, W. Schumacher, J. Wille, L. Wolf Tagungsband des Dagstuhl-Workshop MBEES: Modellbasierte Entwicklung eingebetteter Systeme IV Symmetric and Asymmetric Asynchronous Interaction System Model Semantics of Statecharts System Model Semantics of Class Diagrams Modular Description of a Comprehensive Semantics Model for the UML (Version 2.0) 2007 DARPA Urban Challenge Team CarOLO - Technical Paper