Concept Graph & Resume using Claude 3 Opus | Chat GPT4o | Llama 3:
Resume:
1.- Autonomous driving is important for better vehicle utilization, safety, shared mobility, providing passenger content, and developing AI/robotics with clear business models.
2.- Three pillars enable autonomous driving: sensing, mapping, and driving policy. They should be developed simultaneously as they are intertwined.
3.- Sensing (cameras, radar, lidar) builds an environmental model of moving objects, obstacles, path boundaries, and drivable paths. Cameras provide necessary resolution and appearance information.
4.- Moving object detection requires 3D bounding boxes, not just 2D. Pedestrian detection needs details on actions. This is incremental progress over current tech.
5.- Free space/path delimiter detection is a small leap using deep learning to understand context. Drivable path detection with lane semantics is very complex.
6.- Sensing is about the present, single-agent, predictable. Planning/driving policy is future-focused, multi-agent, less predictable. It requires reinforcement learning.
7.- Driving policy learns human driving behaviors to enable appropriate assertiveness through reinforcement learning in simulated and real environments. It handles negotiations in merging, intersections, etc.
8.- Mapping provides redundancy, foresight, and control ability for autonomy. Map types range from none to navigation maps to hi-def maps to 3D point clouds.
9.- Hi-def maps need real-time updates and 10cm localization, so they must be crowdsourced from production vehicles sending minimal data. This leverages regulatory front-facing cameras.
10.- Crowdsourced maps composed of sparse 3D landmarks (signs, poles, etc.) and dense 1D road model elements, using ego-motion to handle landmark gaps, enabling 10cm localization.
11.- Accurate localization in the hi-def map, combined with map information, enables lateral and longitudinal vehicle control for autonomy, providing sensing redundancy.
12.- Current highway autopilot (e.g. Tesla) is not autonomous - it's unsafe lateral control. Real autonomy is coming in stages:
13.- 2018-2020 will bring highly autonomous highway driving with 360° awareness, safe stop if driver doesn't take over. Real autonomy jump is 2021+.
14.- 2021 will enable fully autonomous driving (SAE Level 4/5) for geofenced ride-sharing fleets, enabling driverless Uber/Lyft, new business models.
15.- 2023+ could allow autonomy everywhere once safety is proven. Enables shared ownership across households, subscription models, transportation disruption.
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