Introduction to Self Driving Cars Answer

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Introduction to Self Driving Cars Answer

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Week- 1

Module 1: Graded Quiz

1.
Question 1
Scenario 1: You’re at home and need to drive to work

During the trip, you will be performing OEDR tasks. Of the tasks below, which of the following is not an example of OEDR?

1 point

• Pulling over upon hearing sirens
• Slowing down when seeing a construction zone ahead
• Maintaining a distance to a vehicle ahead
• Stopping at a red light

2.
Question 2
Which of the following tasks are associated with perception?

1 point

• Responding to traffic lights
• Estimating the motion of other vehicles
• Planning routes on a map
• Identifying road signs

3.
Question 3
Before leaving, you decide to check the weather. The forecast states that over the next few days there will be both sun and rain along with some fog. Assuming your vehicle exhibits Level 5 autonomy, which of the following weather conditions can your vehicle operate?

1 point

• Clear and sunny
• Windy heavy rainfall
• Heavy Fog
• Light rainfall
• All of the above

4.
Question 4
You enter your autonomous vehicle and it drives your usual route to work. While the vehicle is driving, you decide to take a nap. For which levels of autonomy is this safe? (Select all that apply)

1 point

• 1
• 2
• 3
• 4
• 5

5.
Question 5
Scenario 2: (Assume the car is driving on the right-hand side of the road) .

You’re approaching an all ways stop sign and you want to make a right turn. Your vehicle is denoted in orange. There are 2 pedestrians currently crossing and another vehicle (denoted in green) approaching the stop sign from the left.

This task involves multiple considerations, which of them are predictive planning? Select all that apply.

1 point

• Gradually decelerate while reaching the stop sign
• At a stop sign, stop and look both ways before proceeding
• The green car arrives at the stop sign after you and plans to travel straight through the intersection. You choose to move first.
• Wait for the pedestrians to finish crossing before turning

6.
Question 6
Here are some rules for driving at a stop sign. Which of the following is an appropriate priority ranking?

1) For non all-way stop signs, stop at a point where you can see oncoming traffic without blocking the intersection

2) If there are pedestrians crossing, stop until they have crossed

3) If you reach a stop sign before another vehicle, you should move first if safe

1 point

• 1, 2, 3
• 3, 2, 1
• 2, 1, 3
• 3, 1, 2
• 1, 3, 2

7.
Question 7
Which of the following are off-road objects? (Select all that apply)

1 point

• Stop signs
• Curbs
• Pedestrians
• Trees
• Road markings

8.
Question 8
Suppose your vehicle has lane keeping assistance, which of these objects are relevant for its performance? (Select all that apply)

1 point

• Curbs
• Pedestrians
• Stop signs
• Road markings
• Trees

9.
Question 9
Which of the following sensors are used for the lane keeping assistance? (Select all that apply)

1 point

• IMU
• LIDAR
• GPS
• Barometers
• Cameras

10.
Question 10
Scenario 3: You are on the highway and you see a truck in front of you. Assume the car is driving on the right-hand side of the road. There is also a blue car beside the truck in the other lane.

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Your vehicle follows the truck and maintains a constant distance away. What kind of control is this?

1 point

• Lateral
• Fallback
• OEDR
• Longitudinal

11.
Question 11
You decide to change lanes to pass a truck. What kind of decision is this?

1 point

• Reactive
• Rule-based planning
• Immediate
• Short term planning
• Long term planning

12.
Question 12
Which of the following tasks are rule-based planning? (Select all that apply)

1 point

• If the vehicle in front is going to slow down sharply, then avoid performing a lane change.
• During a lane change, maintain our current speed or accelerate slightly
• If there are vehicles directly beside us on the lane, it is unsafe to lane change.

13.
Question 13
Suppose the blue vehicle suddenly brakes and you decide to abort the lane change. If your vehicle can respond automatically and remain in its own lane, what is the minimum level of autonomy of your vehicle?

1 point

• 2
• 1
• 5
• 4
• 3

14.
Question 14
The blue vehicle returns to normal speed and you can now safely change lanes. Your car is performing the lane change, what kind of control is this?

1 point

• Fallback
• Lateral
• Longitudinal
• OEDR

15.
Question 15
Scenario 4: You are almost at work but encounter a construction site.

Assume the car is driving on the right-hand side of the road. Your vehicle is denoted in orange.

You see a construction site where the workers are repaving a road full of potholes. They are using jackhammers which can cause dust clouds.

You create the following decision tree for getting through the construction site. From the diagram, which of the following decisions should you make? (green is true, red is false)

1 point

• A (True)
• B (False)
• C (True)
• D (False)
• E (True)
• F (False)

16.
Question 16
Here are a set of rules for making these decisions, arrange them in an appropriate prioritization.

1) If there are no vehicles ahead, accelerate to the speed limit

2) Drive slowly in construction zones

3) If there are pedestrians or workers directly ahead in the current lane, stop

4) Yield to merging vehicles, if necessary

1 point

• 1, 2, 3, 4
• 2, 3, 4, 1
• 3, 4, 1, 2
• 3, 4, 2, 1

17.
Question 17
Scenario 5: You’re finished work and need to drive back home, but it’s nighttime.

You plan a new path home on your GPS application to avoid the construction site, what type of planning is this?

1 point

• Long term planning
• Immediate
• Short term planning
• Reactive
• Rule based planning

18.
Question 18
Your new path goes through a school zone and you see the school zone sign. You decide to slow down despite there being no pedestrians or children (it’s nighttime). What sort of planning is this?

1 point

• Long term planning
• Rule based planning
• Reactive planning
• Short term planning
• Immediate planning

Week- 2

Module 2: Graded Quiz

1.
Question 1
What are the differences between exteroceptive sensors and proprioceptive sensors? (Select all that apply)

1 point

Exteroceptive sensors can determine distance traveled by the vehicle, whereas proprioceptive sensors cannot.

Proprioceptive sensors are used to determine vehicle position, whereas exteroceptive sensors are used for sensing the environment.

Proprioceptive sensors do not interact with the environment, whereas exteroceptive sensors do.

Exteroceptive sensors can determine obstacle size and distance away, whereas proprioceptive sensors cannot.

Proprioceptive sensors can determine distance traveled by the vehicle, whereas exteroceptive sensors cannot.

2.
Question 2
Which of the following exteroceptive sensors would you use in harsh sunlight?

1 point

Lidar

Cameras

Sonar

Radar

3.
Question 3
Why is synchronization and timing accuracy important in the self driving system? Choose the primary reason.

1 point

Synchronization is important to ensure that sensors measure the environment at the same time.

Synchronization is important to ensure correct sensor fusion.

Synchronization is important to check sensor failure.

Synchronization is important to ensure organized computation.

4.
Question 4
Your autonomous vehicle is driving on the German autobahn at 150 km/h and you wish to maintain safe following distances with other vehicles. Assuming a safe following distance of 2s, what is the distance (in m) required between vehicles? Round your answer to 2 decimal places.

1 point
Enter answer here

83.33

5.
Question 5
Using the same speed of 150 km/h, what is the braking distance (in m) required for emergency stops? Assume an aggressive deceleration of 5 m/s^2. Round your answer to 2 decimal places.

1 point
Enter answer here

173.61

6.
Question 6
Suppose your vehicle was using long range cameras for sensing forward distance, but it is now nighttime and the images captured are too dark. Which of the following sensors can be used to compensate?

1 point

Sonar

IMU

Lidar

Radar

7.
Question 7
What are the differences between an occupancy grid and a localization map? (Select all that apply)

1 point

The occupancy grid only contains static objects, while the localization map contains only dynamic objects.

The localization map uses only lidar data, whereas the occupancy grid can use both lidar and camera data.

The localization map is primarily used to estimate the vehicle position, whereas the occupancy grid is primarily used to plan collision free paths.

An occupancy grid uses a dense representation of the environment, whereas a localization map does not need to be dense.

8.
Question 8
The vehicle steps through the software architecture and arrives at the controller stage. What information is required for the controller to output its commands to the vehicle?

1 point

Environment maps

Planned paths

Locations of obstacles and other vehicles

Vehicle state

9.
Question 9
What is (are) the role(s) of the system supervisor? (Select all that apply)

1 point

To ensure that the controller outputs are within operating range

To ensure that the planned paths are collision free

To ensure that the maps update at the correct frequencies

To ensure that the sensors are working correctly

10.
Question 10
Which of the following tasks should be assigned to the local planner?

1 point

Planning a route to a destination

Planning a lane change to turn left

Planning a merge onto the highway

Planning to avoid a parked car in the ego vehicle’s lane

11.
Question 11
What common objects in the environment appear in the occupancy grid?

1 point

Traffic lights

Lane boundaries

Other moving vehicles

Parked vehicles

12.
Question 12
Which of the following maps contain roadway speed limits?

1 point

Occupancy grid

Localization map

Detailed roadmap

Week- 3

Module 3: Graded Quiz

1.
Question 1
Which from the below options is the most ACCURATE and COMPLETE definition of risk in terms of self-driving vehicles?

1 point

Risk is any exposure to possible loss or injury

Risk is a probability or threat of damage, injury, liability, loss, or any other negative occurrence that is caused by external or internal factors

Risk is a probability that an event occurs combined with the severity of the harm that the event can cause

Risk is a condition in which there is a possibility of an adverse deviation from the desired or expected outcome

None of the above

2.
Question 2
Which of the following are major components of an autonomous driving system? (Select all that apply)

1 point

Planning

Control

Adaptation

Perception

Configuration

3.
Question 3
What are the most common categories of autonomous vehicle hazard sources? (Select all that apply)

1 point

Malicious software

Hardware and software

Driver inattention

Perception and planning

Electrical and mechanical

4.
Question 4
Is the following statement TRUE or FALSE?

The safety framework to structure safety assessment for autonomous driving defined by NHTSA is MANDATORY to follow.

1 point

FALSE

TRUE

5.
Question 5
Which categories are included in the safety framework to structure safety assessment for autonomous driving defined by NHTSA? (Select all that apply)

1 point

Testing and crash mitigation

Well-organized software development process

Autonomy design

Digital vehicle model design

6.
Question 6
Which actions are needed to be performed in the event of an accident by an autonomous vehicle? (Select all that apply)

1 point

Alerting first responders

Data recording to a black box

Returning car to a safe state

Securing fuel pumps

Locking all doors

7.
Question 7
What are the most common accident scenarios? (Select all that apply)

1 point

Road departure

Intersection

Rollover

Lane change

Crosswalk

Rear-end

8.
Question 8
What kind of safety system is described by the following definition?

This system can be analyzed to define quantifiable safety performance based on critical assessment of various scenarios.

1 point

Data driven safety

Test driven safety

Analytical safety

None of the above

9.
Question 9
According to the report by Rand Corporation, autonomous driving of 8.8 billion miles is required to demonstrate human-level fatality rate of an autonomous vehicle fleet using a 95% Confidence Interval. How many years is required to perform this testing with a fleet of 100 vehicles running 24 hours a day, 7 days a week at an average of 25 miles per hour? Your answer should be an integer.

1 point
Enter answer here

400

10.
Question 10
Given that an autonomous vehicle failure has happened and based on this tree, what is the probability that the failure happened because of Vehicle Control Algorithm Failure OR Inadequate Car Drivers? Please give your answer with the precision of 3 decimal places.

Please use this probabilistic fault tree for your computation:

1 point
Enter answer here

0.382

11.
Question 11
Given that the autonomous vehicle failure has happened, and based on this tree, what is the probability that the failure happened because of Software Failure AND Extreme Weather Conditions at the same time? Please give your answer with the precision of 3 decimal places.

Please use the probabilistic fault tree from the previous question for your computation:

1 point
Enter answer here

0.001

12.
Question 12
A computer vision algorithm is responsible for extracting meaningful data from the onboard camera. A computer vision failure restricts the vehicle’s ability to navigate the environment around it, hence a problem with this system is a serious failure. However, LiDAR and radar sense similar environment data, so a computer vision failure does not leave the vehicle completely blind. A Computer vision algorithm failure can be considered a somewhat severe failure as it decreases vehicle sensing ability and it gets a severity score of 5. This could happen regularly in low light situations, hence the occurrence number is assigned 4. Computer vision algorithm failure is fairly detectable in majority of the situations, so the detectability score is 3.

What is the risk priority number for a Computer vision algorithm failure according to FMEA and based on the description above? Your answer should be an integer.

1 point
Enter answer here

60

13.
Question 13
There are failures listed below. Which failures should we focus on solving first according to FMEA?

1 point

Vehicle driving onto a gravel road (risk priority score of 400)

Vehicle motion prediction failure (risk priority score of 150)

GPS synchronization failure (risk priority score of 300)

Computer vision algorithm failure (risk priority score of 60)

14.
Question 14
Which of the following options is the most ACCURATE and COMPLETE definition of functional safety in terms of self-driving vehicles?

1 point

Functional safety is the process of avoiding unreasonable risk of harm to a living thing.

Functional safety is the detection of a potentially dangerous condition resulting in the activation of a protective or corrective device or mechanism to prevent hazardous events arising or providing mitigation to reduce the consequence of the hazardous event

Functional safety is a deterministic algorithm outlining the procedures that are carried out to prevent hazardous events from happening or minimizing the harm caused by hazardous events to the vehicle passengers and third parties involved in the situation

Functional safety is a part of the vehicle operation management aimed to minimizing hazards, risks, accidents and near misses

None of the above

15.
Question 15
Which of the following standards defines functional safety terms and activities for electrical and electronic systems within motor vehicles?

1 point

ISO/TC 204

ISO 39001

ISO/PAS 21448

ISO 26262

None of the above

Week- 4

Programming Assignment: Kinematic Bicycle Model

week 4 Assignment 1 :

Copy the code that is given below the text file and paste in the week 4 Assignment 1 Note book :

https://drive.google.com/file/d/1vieOOtC7ATYNeeuzccNoxQwxbQexMzqq/view?usp=sharing

Programming Assignment: Kinematic Bicycle Model :

https://drive.google.com/file/d/1_vM0sWYOCrRvtQnZ1WrrZETR4Xz8J7tK/view?usp=sharing

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Programming Assignment: Longitudinal Vehicle Model

week 4 Assignment 2 :

Copy the code that is given below the text file and paste in the week 4 Assignment 2 Note book :

https://drive.google.com/file/d/1W7MMHqzplPMJFPIDqhjSH5g8bclZZZyz/view?usp=sharing

Programming Assignment: Longitudinal Vehicle Model :
https://drive.google.com/file/d/135Z9BvtYp-9KzBYYhqydXvdn-WsbQP1N/view?usp=sharing

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Week- 5

Module 5 Graded Quiz

1.
Question 1
What is the order of the following transfer function?

1 point

This is the first order transfer function

This is the second order transfer function

This is the third order transfer function

This is the fifth order transfer function

None of the above

2.
Question 2
What are the poles and zeros of the following transfer function?

1 point

The poles are -3 and 4; the zeros are 2 and -5

The poles are -4 and 3; the zeros are 5 and -2

The poles are 2 and -5; the zeros are -3 and 4

The poles are 5 and -2; the zeros are -4 and 3

None of the above

3.
Question 3
What might be your action as a system control engineer if you need to increase the overshoot of a control loop system? (Select all that apply)

1 point

Decrease K_IK
I
​

Increase KI
​

Decrease K_DK
D
​

Increase KP
​

Increase K_DK
D
​

Decrease K_PK
P
​

4.
Question 4
Recall the Mass-Spring-Damper System example form the video on PID Control. This system is shown in the figure below.

As a system control engineer, you constructed the following closed loop transfer function to represent the Mass-Spring-Damper System. What is the correct transfer function for this closed loop?

1 point

5.
Question 5
You are given the step response of a few different PID controllers using the same gains for the same first order transfer function. Determine a possible set of controllers that generated these step responses:

1 point

1st response by PI; 2nd response by PD; 3rd response by PID

1st response by PD; 2nd response by PI; 3rd response by PID

1st response by PI; 2nd response by PID; 3rd response by PD

1st response by PD; 2nd response by PID; 3rd response by PI

None of the above

6.
Question 6
What is the output of a typical output of a Longitudinal control module? (Select all that apply)

1 point

Reference velocity

Throttle angle

Steering angle

Brake position

7.
Question 7
Based on the engine map in the figure below, determine the throttle angle needed to produce 250 ft-lb of torque given that the current engine speed is 3500 RPM.

If you need help formatting math functions, read this article.

1 point
Enter answer here

60

8.
Question 8
The results of a simulation of the control response to a step change in desired speed of a dynamic vehicle model with a PID controller are shown in the figures below. There are two spikes on these figures: one spike is between 2 and 3 seconds, another spike is between 3 and 4 seconds. What is the reason of these spikes?

1 point

Engine-transmission torque loss

Tire slip

Nonlinear engine map

High level controller simplification: changing the integral to a summation over fixed length time steps in the Integral term

None of the above

9.
Question 9
What type of control system is shown in the figure below?

1 point

Feedback control

Feedforward control

Feedback-feedforward control

None of the above

10.
Question 10

What types of inaccuracies are corrected by a feedback controller?

1 point

Disturbances

Nonlinear engine map

Errors in the plant model

High level controller simplification: changing the integral to a summation over fixed length time steps in the Integral term

11.
Question 11
What assumptions are essential for creation of a longitudinal feedforward input? (Select all that apply)

1 point

The plant system is linear

The vehicle is at steady state

Torque from the engine passes directly to the transmission without loss

The tire slip angle and ratio are negligible

12.
Question 12
What are the sources of the load torque considered for a longitudinal feedforward look-up table computation? (Select all that apply)

1 point

Aerodynamic resistance

Static friction

Gravitational resistance

Rolling resistance

Cornering force

Sliding resistance

13.
Question 13
A vehicle is being operated on a highway with the reference velocity of 126 km/h (35 m/s) in gear 4 and it overcomes the total load torque of 300 ft-lb. This vehicle specification includes effective wheel radius of 0.35 m and 4th gear ratio of 2. What throttle angle is required for maintaining the the current speed of the vehicle?

Please use the below engine map for your computation.

If you need help formatting math functions, read this article.

1 point
Enter answer here

70

Week- 6

Module 6: Graded Quiz

1.
Question 1
Which reference path is the most compact and easy to construct?

1 point

Track straight line segment

Track waypoints

Track parameterized curves

None of the above

2.
Question 2

What is the most ACCURATE and PRECISE definition of the crosstrack error?

1 point

The crosstrack error is the difference between path heading and the vehicle heading at a reference point along the path

The crosstrack error is the distance between the vehicle reference point and the closest point on the reference path

The crosstrack error is the sum of the absolute difference between each coordinate of the vehicle reference point and the corresponding closest point on the desired path

None of the above

3.
Question 3
What vehicle reference frame is used in a pure pursuit controller?

1 point

Center of gravity

Center of the front axle

Center of the rear axle

None of the above

4.
Question 4
Compute the radius from the instantaneous center of rotation to the center of the vehicle rear axle (in m) required for an autonomous vehicle to follow the desired path based on the information below.

The lookahead distance is 10 m; the car length is 4 m; the angle between the vehicle’s body heading and the lookahead line is 30°. Your answer should be an integer.

1 point
Enter answer here

10

5.
Question 5
Compute the steering angle (in degrees) required for an autonomous vehicle with pure pursuit lateral control for following the desired path based on the information below.

The lookahead distance is 15 m; the car length is 5 m; the angle between the vehicle’s body heading and the lookahead line is 60°.

If you need help formatting math functions, read this article.

1 point
Enter answer here

30

6.
Question 6
Consider a situation in which a vehicle traveling speed has decreased from 100 km/h to 50 km/h. This vehicle lateral control is implemented with a pure pursuit controller where l_dl
d
​
is assigned as a function of vehicle speed. How should l_dl
d
​
change in this situation?

1 point

ld should increase

ld should decrease

ld should stay the same

ld can increase or decrease depending on how the controller is tuned

None of the above

7.
Question 7
What are major components of the Stanley controller? (Select all that apply)

1 point

Steering angle is set equal to the heading direction to eliminate heading error relative to the path

Crosstrack error is eliminated

Steering angle command is restricted to the min and max steering angles

Derivative control is introduced for minimizing the heading error

Proportional control is introduced for minimizing the crosstrack error

Integral control is added for both the heading and the crosstrack errors optimization

8.
Question 8
What is the correct figure of the crosstrack error dynamics for a small error value(where e'(t)= -ke(t)e
′
(t)=−ke(t))?

1 point

Figure 3:

9.
Question 9
What is the value of the crosstrack error, governed by the ODE e'(t) = -ke(t)e
′
(t)=−ke(t), at t = 2t=2 given that e(0) = 4e(0)=4 and k = 1k=1?

Please give your answer with the precision of 2 decimal places.

1 point
Enter answer here

0.54

10.
Question 10
Which of the statements below about Model Predictive Control (MPC) are TRUE? (Select all that apply)

1 point

MPC is an optimized version of Receding Horizon Control

MPC works for both linear and nonlinear models

MPC can impose constraints on the states and the input simultaneously

The formulation of an MPC controller is straightforward

11.
Question 11
What is the typical way of finding the solution for a nonlinear vehicle dynamics model given an input function?

1 point

Laplace transform

Numerical optimization

Using existing closed form solution

None of the above

12.
Question 12
What is the output of the Model Predictive Controller described in this course? (Select all that apply)

1 point

Throttling/braking

Steering angle

Longitudinal forces

Lateral forces

None of the above

Week- 7

Programming Assignment: Final Project: Self-Driving Vehicle Control

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