autonomous driver assistance system using swarm intelligence
TRANSCRIPT
06:16 PM
Autonomous Driver Assistance System Using Swarm Intelligence
(DAS)
Wickramasinghe W.M.M.P.B
Gamachchige D.P.S
Madushanka U.D.G.T
PURSE 2012
PURSE 2012 06:16 PM
Bad traffic conditions create lots of time and money waste and they give rise to many
environmental issues too.
Problem
Existing Solutions
• Optimizing the Traffic light controlling system– At any given junction does not help the driver in
assessing traffic density before entering a busy route segment
– the control it has over driver behaviour is limited to allowing/disallowing access to routes at the junction
– traffic light control does not have a way to obtain and hence, to include, individual travel destinations of vehicles in its logic
– If something goes wrong it is harmful
PURSE 2012 06:16 PM
Existing Solutions ctd.
• Introducing a central control mechanism (like central server)- should have a high processing power - If the server does not work for few minutes, it
could become catastrophic- there is no progressive degradation of
performance
• High performance satellite systems for identifying the traffic- This is really costly and need some advanced devices
PURSE 2012 06:16 PM
Imagine …
• A situation where the traffic condition on each road is displayed on the dash board of the your vehicle …
• It would be just enough information for you to choose alternative paths avoiding bad traffic
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Our Solution
Driver Assistance System (DAS) using swarm intelligence techniques
PURSE 2012 06:16 PM
Swarm Intelligence
describes the collective behavior of decentralized, self-organized systems, natural or
artificial
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Natural
• Flocks of birds coordinate to move without collision
• Termites build giant structures• Ants manage to find food sources quickly and
efficiently
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Concept
9
Id 1
Id 3
Id 4Id 2
Id 5
30kmh(7.52,79.8)
20kmh(7.50,80.8)
80kmh(7.52,79.2)
32kmh(7.40,78.8)
28kmh(7.52,79.9)
BOT
BOT
BOT
BOT
BOT{1:(30,[7.52,79.8])}{5:(80,[7.52,79.2])}
{4:(20,[7.50,80.8])}{2:(28,[7.52,79.9])}
{3:(32,[7.40,78.8])}
This is the initial state of the system, where each vehicle has only its own, locally generated state
Concept - Communication
PURSE 2012 06:16 PM
Intra-colony Communication•Short distance•Can use V2V (Vehicle to Vehicle) communication
Concept– Intra colony communication
11
1
2
34
{1:(30,[7.52,79.8])}
{2:(24,[7.52,79.7])}
{3:(24,[7.52,79.6])}
{2:(24,[7.52,79.7]),1:(30,7.52,79.8)}
{1:(30,[7.52,79.8]), 2:(24,[7.52,79.7])}
{3:(24,[7.52,79.6]),2:(24,[7.52,79.7]), 1:(30,7.52,79.8)}
{3:(24,[7.52,79.6]),2:(24,[7.52,79.7]), 1:(30,7.52,79.8), 4:(20,[7.52,79.6])}
{2:(24,[7.52,79.7]),1:(30,7.52,79.8),3:(24,[7.52,79.6])}
{4:(20,[7.52,79.6])}{3:(24,[7.52,79.6]), 2:(24,[7.52,79.7]), 1:(30,7.52,79.8), 4:(20,[7.52,79.6])}
Colony
• Intra-colony communication
• Bots update their data tables using gossip protocol
{2:(24,[7.52,79.7]),1:(30,7.52,79.8),3:(24,[7.52,79.6]), 4:(20,[7.52,79.6])}
{1:(30,[7.52,79.8]),2:(24,[7.52,79.7]), 3:(24,[7.52,79.6]),4:(20,[7.52,79.6])}
Concept–Inter colony communication
12
Inter colony
comm
unicationAverage:
speed=30
location=7.52,79.80
I have token
Colony1
Colony2
• Inter-colony communication
• Colonies broadcast their local states
• The broadcasts are done at pre-defined intervals (synchronous mode)
Output
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Destination
Current Location
Results and Validation
The solution was validated by developing a simulator
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Road Network
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RoadsVehicles with id
Junctions
Results for one bot
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The road map which appears on the DAS dashboard is refreshed only when the color assigned to an edge (road segment) has to be changed according to the color assignment table, based on the present traffic intensities
Intra colony communication range of
bot 1
Data table of bot 1
Traffic intensities of each edge
Programming Environment
• Python for programming language– Dedicated language for intelligent models
• Eclipse for IDE– PyDev plugin for eclipse
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Advantages of the solution
• No central server• Driver has freedom to take decisions• No need high computation power devices• No need to handle huge data• Progressive degradation of system
performance• Robust
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Possible Problems and limitations in the Current design and possible
Solutions
Better inter colony communication link
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Remaining work
• Validate the System in a real world situation– Build an android mobile application to test the
system in real world
• Build an embedded device for vehicles
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Thank You!
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Q &A
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