無人駕駛與雷達應用課件

DRIVERLESSCARSTheEthicsOfAutonomousvehiclesKylerBranaum,LindseyYoung,KodyMyersDRIVERLESSCARSTheEthicsOfA1AutonomousVehiclesDefined

Vehiclethatgetfromonepointtoanotherpointwithouthumaninteraction.Implementanumberofwellplacedsensorsthatdetectdifferentthingssuchasothervehicles,people,trafficlights,andmovementofothervehiclesAutonomousVehiclesDefined

Ve2TheTechnologyoftheCar Anti-LockBrakesElectronicStabilitycontrolAdaptivecruisecontrolLane-departurewarningsystemSelfparkingAutomatedguidedvehiclesystemsLidar-Systems(withgooglecars)orCruiseAutomatedSystems(Audi)Infraredcameras.TheTechnologyoftheCar Anti3TheLidarSystemFeatures:VerticalandhorizontalsetupofthesystempossibleImageacquisitionwithfullyintegratedNIKONDSLRcamera.3DmodeoftheVZscannerwithcontinuousrotationofthescanningheadforhighlyefficientmobiledataacquisition.360degreestaticscanning.MainlyusedbyGoogleInc.fordetectingthesurroundingsofthevehicleTheLidarSystemFeatures:4CruiseSystemsFeatures:CamerasandRadarstomapoutsurroundings(includingothervehicles)Usedmainlyforhighwayscenarios.Steeringwheelmotormountedtosteeringcolumn.Adaptivespeedcontrol.CollisionavoidanceRP-1sensorsWillbemadeinfutureforothervehicles.CruiseSystemsFeatures:5TypesofAlgorithmsThecombinationof:3-Dimagingwithmultiple1064nmlasers.Edge-DetectionAlgorithmMotion-DetectionalgorithmTrackingalgorithmTypesofAlgorithmsThecombina6ApplesandOrangesLidarSystem:$70ksystemCanbeusedinbasicallyanywhere.DesignisverybulkyandheavyFullyautonomous CruiseSystem:$10ksystem(installed)MainlyforhighwayscenariosDesignissmallandlightweightNotfullyautonomousApplesandOrangesLidarSystem7CurrentAdoptionoftheTechnologyGoogle,asmentionedpreviouslyCruiseAutomationTeslaModelDannouncedin2014Carwillbeabletoautonomouslypickownersup(onprivateproperty)CadillacSuperCruiseannouncedin2014for2017modelsHands-freedrivingincertainconditionsVehicletovehiclecommunicationFordTrafficJamAssistannouncedin2012givessimilarfeaturesCurrentAdoptionoftheTechno8ComponentsLanedeparturewarningLazyorinattentivedriverscanautomaticallybemovedBlindspotmonitoringWarnifcarsareinblindspotsPedestriandetectionAutomaticbrakeorwarningAdaptivecruisecontrol+forwardcollisionwarningCarstaysasafedistancebehindcarsaheadofitWarnsortakesactionincaseofdangerComponentsLanedeparturewarni9StatisticalandProfessionalSupport32,719peoplewerekilledincaraccidentsintheUSalonein2013TheInstituteforHighwaySafetyreportedthefollowingin20147%reductionincrashesforvehicleswithforwardcollisionwarningsystems.14-15%reductionforvehicleswithautomaticbraking.In2012pedestriandeathswere14%ofallcrashfatalitiesInsuranceInstituteforHighwaySafetyfound72%ofpeoplewhotrythetechnologywantthemintheirownvehicle.AutomaticbrakinglowersseverityofunavoidablecrashesaccordingtoanIIHSofficial.StatisticalandProfessionalS10DrawbacksAlthoughtherearepeoplewhowantthetechnologyintheircars,itcancost:$2,000onaverageforsafety-relatedtech(notautomation)$10,000forCruiseinAudiS4s,asmentioned.PoorperformanceinadverseweatherconditionsWhoistoblame?Thecarmanufacturer?Theprogrammer?Thedriver?DrawbacksAlthoughtherearepe11PublicAcceptanceandAdoptionVehicletovehicletechnologycannotfunctionideallywithoutadoptionacrosstheboard.MinorityvsmajorityFewlegalprecedentsLegalinNV,CA,FL,MI,andtheDistrictofColumbia.FailedlegislationinTX,OK,CO,AZ,OR,WI,andNH.PublicAcceptanceandAdoption12EthicalConsiderations“Humandriversmaybeforgivenformakinganinstinctivebutnonethelessbadsplit-seconddecision,suchasswervingintoincomingtrafficratherthantheotherwayintoafield.Butprogrammersanddesignersofautomatedcarsdon’thavethatluxury,sincetheydohavethetimetogetitrightandthereforebearmoreresponsibilityforbadoutcomes.”-PatrickLin,TheAtlanticEthicalConsiderations“Humand13TheTrolleyProblemAtrolley’sbrakeshavefailed.Youarecontrollingthesignalswitch.Ifyoudonothing,fivepeoplewillbekilled.Ifyouactivatetheswitch,onlyonepersonwillbekilled.Whatdoyouchoosetodo?Criticaldistinction:Allowingdeathversuscausingdeath?Aclassicthought-exerciseinethicsTheTrolleyProblemAtrolley’s14UtilitarianAnalysisWeightheprosandconsofeachpotentialoutcometodeterminethenetchangeinoverallwelfare.Picktheoutcomewithgreatestnetincrease(orleastdecrease)inwelfare.Duetoitsobjectiveness,itistheoreticallypossibletoimplementinacomputersystem.AquickrefresherUtilitarianAnalysisWeighthe15TheTrolleyProblemWhentheidentitiesoftheactorschangeTheTrolleyProblemWhentheid16ProblemswithUtilitarianAnalysisIneffectivewheninformationisomitted.Atrulyaccurateanalysismayrequirevaluingonehumanlifeoveranother.The“l(fā)eastbad”outcomemaystillresultinthelossoflife.ProblemswithUtilitarianAnal17AnotherProblem:ConsequentialismWithoutcompleteinformationandthegiftofhindsight,adecisionthatresultsinanetgainofwelfareintheshortrunmayturnouttobeaverypoordecisioninthelongrun.Whilewearefreetochooseouractions,wearenotfreetochoosetheconsequencesofouractions.–StephenR.CoveyAnotherProblem:Consequential18ANewClassofVictimsTherewillbeaninherentshiftinthemakeupofautomobileaccidentvictims.Likelyadecreaseindriverdeathsandanincreaseinpedestrianandcyclistdeaths.Greatnewsforsomepeople,badnewsforothers.Anethicalconundrum:Canweacceptanincreaseinthedeathrateofcertaingroupsofpeopleifitmeansadecreaseintheoveralldeathrate?ANewClassofVictimsTherewi19RandomOutcomeGeneratorSwervetotheright,potentiallykillingacyclist.Swervetotheleft,potentiallykillingtwopedestrians.Continueforwardintothepathofanoncomingvehicle,potentiallykillingyourselfanditsoccupant(s).A“fair”solutionGeneratealistofpotentialoutcomes,thenrollthedie:RandomOutcomeGeneratorSwerve20EasingPublicApprehensionsHowmanymorelivesperyearmustbesavedforthepublictoembraceadriverlessrevolution?Manufacturerswillneedtobeupfrontwiththedetailsofthedecision-makingsystemspilotingthevehicles.Willtherebeoverridecapabilities?DelayedFeedbackProblem:Therewillbeasignificantperiodoftimebeforewe’vecollectedenoughdatatodeterminetheeffectivenessofadriverlessinitiative.EasingPublicApprehensionsHow21ReferencesBRANDON,JOHN."TheNewCruiseControl."Inc37.1(2015):88-94.AcademicSearchComplete.Web.1Apr.2015.PULTAROVA,TEREZA."Self-DrivingSelf-chargingElectricCarsReadytoRoll."Engineering&Technology(17509637)9.12(2015):10.AcademicSearchComplete.Web.1Apr.2015."TheRoadToSelf-DrivingCars."ConsumerReports79.4(2014):16-20.AcademicSearchComplete.Web.1Apr.2015.http:///investing/general/2014/10/26/self-driving-cars-what-will-it-take-to-make-automa.aspx/top-20-pros-and-cons-associated-with-self-driving-cars.htm/2013/07/the-surprising-ethics-of-robot-cars//http:///cro/magazine/2014/04/the-road-to-self-driving-cars/index.htmReferencesBRANDON,JOHN."The22DRIVERLESSCARSTheEthicsOfAutonomousvehiclesKylerBranaum,LindseyYoung,KodyMyersDRIVERLESSCARSTheEthicsOfA23AutonomousVehiclesDefined

Vehiclethatgetfromonepointtoanotherpointwithouthumaninteraction.Implementanumberofwellplacedsensorsthatdetectdifferentthingssuchasothervehicles,people,trafficlights,andmovementofothervehiclesAutonomousVehiclesDefined

Ve24TheTechnologyoftheCar Anti-LockBrakesElectronicStabilitycontrolAdaptivecruisecontrolLane-departurewarningsystemSelfparkingAutomatedguidedvehiclesystemsLidar-Systems(withgooglecars)orCruiseAutomatedSystems(Audi)Infraredcameras.TheTechnologyoftheCar Anti25TheLidarSystemFeatures:VerticalandhorizontalsetupofthesystempossibleImageacquisitionwithfullyintegratedNIKONDSLRcamera.3DmodeoftheVZscannerwithcontinuousrotationofthescanningheadforhighlyefficientmobiledataacquisition.360degreestaticscanning.MainlyusedbyGoogleInc.fordetectingthesurroundingsofthevehicleTheLidarSystemFeatures:26CruiseSystemsFeatures:CamerasandRadarstomapoutsurroundings(includingothervehicles)Usedmainlyforhighwayscenarios.Steeringwheelmotormountedtosteeringcolumn.Adaptivespeedcontrol.CollisionavoidanceRP-1sensorsWillbemadeinfutureforothervehicles.CruiseSystemsFeatures:27TypesofAlgorithmsThecombinationof:3-Dimagingwithmultiple1064nmlasers.Edge-DetectionAlgorithmMotion-DetectionalgorithmTrackingalgorithmTypesofAlgorithmsThecombina28ApplesandOrangesLidarSystem:$70ksystemCanbeusedinbasicallyanywhere.DesignisverybulkyandheavyFullyautonomous CruiseSystem:$10ksystem(installed)MainlyforhighwayscenariosDesignissmallandlightweightNotfullyautonomousApplesandOrangesLidarSystem29CurrentAdoptionoftheTechnologyGoogle,asmentionedpreviouslyCruiseAutomationTeslaModelDannouncedin2014Carwillbeabletoautonomouslypickownersup(onprivateproperty)CadillacSuperCruiseannouncedin2014for2017modelsHands-freedrivingincertainconditionsVehicletovehiclecommunicationFordTrafficJamAssistannouncedin2012givessimilarfeaturesCurrentAdoptionoftheTechno30ComponentsLanedeparturewarningLazyorinattentivedriverscanautomaticallybemovedBlindspotmonitoringWarnifcarsareinblindspotsPedestriandetectionAutomaticbrakeorwarningAdaptivecruisecontrol+forwardcollisionwarningCarstaysasafedistancebehindcarsaheadofitWarnsortakesactionincaseofdangerComponentsLanedeparturewarni31StatisticalandProfessionalSupport32,719peoplewerekilledincaraccidentsintheUSalonein2013TheInstituteforHighwaySafetyreportedthefollowingin20147%reductionincrashesforvehicleswithforwardcollisionwarningsystems.14-15%reductionforvehicleswithautomaticbraking.In2012pedestriandeathswere14%ofallcrashfatalitiesInsuranceInstituteforHighwaySafetyfound72%ofpeoplewhotrythetechnologywantthemintheirownvehicle.AutomaticbrakinglowersseverityofunavoidablecrashesaccordingtoanIIHSofficial.StatisticalandProfessionalS32DrawbacksAlthoughtherearepeoplewhowantthetechnologyintheircars,itcancost:$2,000onaverageforsafety-relatedtech(notautomation)$10,000forCruiseinAudiS4s,asmentioned.PoorperformanceinadverseweatherconditionsWhoistoblame?Thecarmanufacturer?Theprogrammer?Thedriver?DrawbacksAlthoughtherearepe33PublicAcceptanceandAdoptionVehicletovehicletechnologycannotfunctionideallywithoutadoptionacrosstheboard.MinorityvsmajorityFewlegalprecedentsLegalinNV,CA,FL,MI,andtheDistrictofColumbia.FailedlegislationinTX,OK,CO,AZ,OR,WI,andNH.PublicAcceptanceandAdoption34EthicalConsiderations“Humandriversmaybeforgivenformakinganinstinctivebutnonethelessbadsplit-seconddecision,suchasswervingintoincomingtrafficratherthantheotherwayintoafield.Butprogrammersanddesignersofautomatedcarsdon’thavethatluxury,sincetheydohavethetimetogetitrightandthereforebearmoreresponsibilityforbadoutcomes.”-PatrickLin,TheAtlanticEthicalConsiderations“Humand35TheTrolleyProblemAtrolley’sbrakeshavefailed.Youarecontrollingthesignalswitch.Ifyoudonothing,fivepeoplewillbekilled.Ifyouactivatetheswitch,onlyonepersonwillbekilled.Whatdoyouchoosetodo?Criticaldistinction:Allowingdeathversuscausingdeath?Aclassicthought-exerciseinethicsTheTrolleyProblemAtrolley’s36UtilitarianAnalysisWeightheprosandconsofeachpotentialoutcometodeterminethenetchangeinoverallwelfare.Picktheoutcomewithgreatestnetincrease(orleastdecrease)inwelfare.Duetoitsobjectiveness,itistheoreticallypossibletoimplementinacomputersystem.AquickrefresherUtilitarianAnalysisWeighthe37TheTrolleyProblemWhentheidentitiesoftheactorschangeTheTrolleyProblemWhentheid38ProblemswithUtilitarianAnalysisIneffectivewheninformationisomitted.Atrulyaccurateanalysismayrequirevaluingonehumanlifeoveranother.The“l(fā)eastbad”outcomemaystillresultinthelossoflife.ProblemswithUtilitarianAnal39AnotherProblem:ConsequentialismWithoutcompleteinformationandthegiftofhindsight,adecisionthatresultsinanetgainofwelfareintheshortrunmayturnouttobeaverypoordecisioninthelongrun.Whilewearefreetochooseouractions,wearenotfreetochoosetheconsequencesofouractions.–StephenR.CoveyAnotherProblem:Consequential40ANewClassofVictimsTherewillbeaninherentshiftinthemakeupofautomobileaccidentvictims.Likelyadecreaseindriverdeathsandanincreaseinpedestrianandcyclistdeaths.Greatnewsforsomepeople,badnewsforothers.Anethicalconundrum:Canweacceptanincreaseinthedeathrateofcertaingroupsofpeopleifitmeansadecreaseintheoveralldeathrate?ANewClassofVictimsTherewi