Google self-driving car

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A Google self-driving car
A Lexus RX450h retrofitted by Google for its self-driving car project
Public road testing of driverless cars is legal in California, Michigan, Florida, Nevada, Arizona, North Dakota, Tennessee, the District of Columbia, and Utah. (Updated 23 Mar 2016)

Google self-driving cars - all of which have test drivers at the wheel[1] - are any in a range of autonomous cars, developed by Google X as part of its project to develop technology for mainly electric cars.[2] Lettering on the side of each car identifies it as a "self-driving car". The project was formerly led by Sebastian Thrun, former director of the Stanford Artificial Intelligence Laboratory and co-inventor of Google Street View. Thrun's team at Stanford created the robotic vehicle Stanley which won the 2005 DARPA Grand Challenge and its US$2 million prize from the United States Department of Defense.[3] The team developing the system consisted of 15 engineers working for Google, including Chris Urmson, Mike Montemerlo, and Anthony Levandowski who had worked on the DARPA Grand and Urban Challenges.[4]

Legislation has been passed in four U.S. states and Washington, D.C. allowing driverless cars. The state of Nevada passed a law on June 29, 2011, permitting the operation of autonomous cars in Nevada, after Google had been lobbying in that state for robotic car laws.[5][6] The Nevada law went into effect on March 1, 2012, and the Nevada Department of Motor Vehicles issued the first license for an autonomous car in May 2012, to a Toyota Prius modified with Google's experimental driverless technology.[7] In April 2012, Florida became the second state to allow the testing of autonomous cars on public roads,[8] and California became the third when Governor Jerry Brown signed the bill into law at Google Headquarters in Mountain View.[9] In December 2013, Michigan became the fourth state to allow testing of driverless cars on public roads.[10] In July 2014, the city of Coeur d'Alene, Idaho adopted a robotics ordinance that includes provisions to allow for self-driving cars.[11]

In May 2014, Google announced plans to created driverless car that had neither a steering wheel nor pedals,[12] and unveiled a fully functioning prototype in December of that year that they planned to test on San Francisco Bay Area roads beginning in 2015.[13] Google plans to make these cars available to the public in 2020.[14]


The project team has equipped a number of different types of cars with the self-driving equipment, including the Toyota Prius, Audi TT, and Lexus RX450h,[15] Google has also developed their own custom vehicle, which is assembled by Roush Enterprises and uses equipment from Bosch, ZF Lenksysteme, LG, and Continental.[16][17]

Google's robotic cars have about $150,000 in equipment including a $70,000 LIDAR system.[18] The range finder mounted on the top is a Velodyne 64-beam laser. This laser allows the vehicle to generate a detailed 3D map of its environment. The car then takes these generated maps and combines them with high-resolution maps of the world, producing different types of data models that allow it to drive itself.[19]

As of June 2014, the system works with a very high definition inch-precision map of the area the vehicle is expected to use, including how high the traffic lights are; in addition to on-board systems, some computation is performed on remote computer farms.[20]

Road testing[edit]

When testing their autonomous vehicles on public roads, Google always has test drivers ready to take over if the car is not driving itself safely or smoothly enough. In August 2016, there cars traveled a "total of 170,000 miles; of those, 126,000 miles were driven autonomously (i.e. the car was fully in control)." [21]

As of June 2016, Google had test driven their fleet of vehicles, in autonomous mode, a total of 1,725,911 mi (2,777,585 km).[22]

A Toyota Prius modified to operate as a Google driverless car, navigating a test course[23]

In 2012, the test group of vehicles included six Toyota Prius, an Audi TT, and three Lexus RX450h,[15] each accompanied in the driver's seat by one of a dozen drivers with unblemished driving records and in the passenger seat by one of Google's engineers. By May 2015, that fleet consisted solely of 23 Lexus SUVs.[24]

Google's vehicles have traversed San Francisco's Lombard Street, famed for its steep hairpin turns, and through city traffic. The vehicles have driven over the Golden Gate Bridge and around Lake Tahoe.[4] The system drives at the speed limit it has stored on its maps and maintains its distance from other vehicles using its system of sensors.[25] The system provides an override that allows a human driver to take control of the car by stepping on the brake or turning the wheel, similar to cruise control systems already found in many cars today.[3][26]

On March 28, 2012, Google posted a YouTube video showing Steve Mahan, a resident of Morgan Hill, California, being taken on a ride in Google's self-driving Toyota Prius. In the video, Mahan states "Ninety-five percent of my vision is gone, I'm well past legally blind". In the description of the YouTube video, it is noted that the carefully programmed route takes him from his home to a drive-through restaurant, then to the dry cleaning shop, and finally back home.[27][28]

In August 2012, the team announced that they have completed over 300,000 autonomous-driving miles (500,000 km) accident-free, typically have about a dozen cars on the road at any given time, and are starting to test them with single drivers instead of in pairs.[29] Four U.S. states have passed laws permitting autonomous cars as of December 2013: Nevada, Florida, California, and Michigan.[30] A law proposed in Texas would establish criteria for allowing "autonomous motor vehicles".[31][32]

In April 2014, the team announced that their vehicles have now logged nearly 700,000 autonomous miles (1.1 million km).[33]

In June 2015, the team announced that their vehicles have now driven over 1,000,000 mi (1,600,000 km), stating that this was "the equivalent of 75 years of typical U.S. adult driving", and that in the process they had encountered 200,000 stop signs, 600,000 traffic lights, and 180 million other vehicles.[34] Google also announced its prototype vehicles were being road tested in Mountain View, California.[35] During testing, the prototypes' speed will not exceed 25 mph (40 km/h) and will have safety drivers aboard the entire time. As a consequence, one of the vehicles was stopped by police for impeding traffic flow.[36]

Google has expanded its road-testing to the state of Texas, where regulations do not prohibit cars without pedals and a steering wheel.[37] Bills were introduced by interested parties to similarly change the legislation in California.[38]

Google expected the California Department of Motor Vehicles to release precedent-setting regulations regarding driverless cars in January 2015, allowing the company to give public access to the prototypes. However, as of November 2015, the DMV still has not done so. Google - and other companies - are not ready to share trade-secret safety data, although they continue to push for the publication of California regulations.[37]


Based on Google's own accident reports, their test cars have been involved in 14 collisions, of which other drivers were at fault 13 times. It was not until 2016 that the car's software caused a crash.

On February 14, 2016 a Google self-driving car attempted to avoid sandbags blocking its path. During the maneuver it struck a bus. Google addressed the crash, saying “In this case, we clearly bear some responsibility, because if our car hadn’t moved there wouldn’t have been a collision.”[39][40][41] Some incomplete video footage of the crash is available.[42] Google characterized the crash as a misunderstanding and a learning experience.[43] The company also stated "This type of misunderstanding happens between human drivers on the road every day."[44]

As of July 2015, Google's 23 self-driving cars have been involved in 14 minor collisions on public roads,[24] but Google maintains that, in all cases other than the February 2016 incident, the vehicle itself was not at fault because the cars were either being manually driven or the driver of another vehicle was at fault.[45][46][47]

In June 2015, Google founder Sergey Brin confirmed that there had been 12 collisions as of that date, eight of which involved being rear-ended at a stop sign or traffic light, two in which the vehicle was side-swiped by another driver, one of which involved another driver rolling through a stop sign, and one where a Google employee was manually driving the car.[48] In July 2015, three Google employees suffered minor injuries when the self-driving car they were riding in was rear-ended by a car whose driver failed to brake at a traffic light. This was the first time that a self-driving car collision resulted in injuries.[49]

Additionally, Google maintains monthly reports that include any traffic incidents that their self-driving cars have been involved in.[50]

Google is required by the Californian DMV to report the number of incidents during testing where the human driver took control. Some of these incidents are not reported by Google when simulations indicate the car should have coped on its own. There is some controversy concerning this distinction between driver-initiated disengagements that Google reports and those that it does not report.[51]


As of August 28, 2014, according to Computer World Google's self-driving cars were in fact unable to use about 99% of US roads.[52] As of the same date, the latest prototype had not been tested in heavy rain or snow due to safety concerns.[53] Because the cars rely primarily on pre-programmed route data, they do not obey temporary traffic lights and, in some situations, revert to a slower "extra cautious" mode in complex unmapped intersections. The vehicle has difficulty identifying when objects, such as trash and light debris, are harmless, causing the vehicle to veer unnecessarily. Additionally, the lidar technology cannot spot some potholes or discern when humans, such as a police officer, are signaling the car to stop.[54] Google projects having these issues fixed by 2020.[55]

Future plans[edit]

In late May, Google revealed a new prototype of its driverless car, which had no steering wheel, gas pedal, or brake pedal, being 100% autonomous.Now,they have made a car without peddals,steerign wheel,gas peddal or brake pedal.[56]


In October 2010, an attorney for the California Department of Motor Vehicles raised concerns that "[t]he technology is ahead of the law in many areas," citing state laws that "all presume to have a human being operating the vehicle".[3]

According to a May 2011 article in The New York Times, policy makers and regulators have argued that new laws will be required if driverless vehicles are to become a reality because "the technology is now advancing so quickly that it is in danger of outstripping existing law, some of which dates back to the era of horse-drawn carriages".[6]

In 2012 Google founder Sergey Brin stated that Google Self-Driving car will be available for the general public in 2017,[57] and in 2014 this schedule was updated by project director Chris Urmson to indicate a possible release from 2017 to 2020.[58] Google has partnered with suppliers including Bosch, ZF Lenksysteme, LG, Continental, and Roush, and has contacted manufacturers including General Motors, Ford, Toyota (including Lexus), Daimler and Volkswagen.[17]

Google lobbied for two bills that made Nevada the first state where autonomous vehicles can be legally operated on public roads. The first bill is an amendment to an electric vehicle bill that provides for the licensing and testing of autonomous vehicles. The second bill will provide an exemption from the ban on distracted driving to permit occupants to send text messages while sitting behind the wheel. The two bills came to a vote before the Nevada state legislature's session ended in June 2011. It has been speculated that Nevada was selected due to the Las Vegas Auto Show and the Consumer Electronics Show, and the high likelihood that Google will present the first commercially viable product at either or both of these events. Google executives, however, refused to state the precise reason they chose Nevada to be the maiden state for the autonomous car.[6]

Nevada passed a law in June 2011 concerning the operation of autonomous cars in Nevada,[5][6][59] which went into effect on March 1, 2012.[7] A Toyota Prius modified with Google's experimental driverless technology was licensed by the Nevada Department of Motor Vehicles (DMV) in May 2012. This was the first license issue in the United States for a self-driven car.[7] License plates issued in Nevada for autonomous cars will have a red background and feature an infinity symbol () on the left side because, according to the DMV Director, "...using the infinity symbol was the best way to represent the 'car of the future'."[26] Nevada's regulations require a person behind the wheel and one in the passenger's seat during tests.

In August 2013, news reports surfaced about Robo-Taxi, a proposed driverless vehicle taxicab service from Google.[60] These reports re-appeared again in early 2014,[61] following the granting of a patent to Google for an advertising fee funded transportation service which included autonomous vehicles as a method of transport.[62] Paid Google consultant Larry Burns says self-driving, taxi-like vehicles "should be viewed as a new form of public transportation."[63]

In December 2015, the California Department of Motor Vehicles issued long-anticipated proposed regulations governing autonomous vehicles,[64] and invited public comments on the draft regulations at meetings in Sacramento on January 28, 2016, and in Los Angeles on February 2, 2016.[65] If adopted, the regulations would require self-driving cars to have a steering wheel and pedals, and a human driver onboard who holds an "autonomous vehicle operator certificate."[66] They would also hold the occupant responsible for accidents and violations of traffic laws, regardless of whether or not they were at the wheel.[67] The DMV summarized its perspective by stating, "Given the potential risks associated with deployment of such a new technology, [we believe] that manufacturers need to obtain more experience in testing driverless vehicles on public roads prior to making this technology available to the general public."[68] Lobbying by project manager Chris Urmson from Google in the US Senate is underway to change this.[69]

See also[edit]


  1. ^ On the road – Google Self-Driving Car Project
  2. ^ Fisher, Adam (September 18, 2013). "Inside Google's Quest To Popularize Self-Driving Cars". Popular Science. Retrieved September 18, 2013. 
  3. ^ a b c John Markoff (October 9, 2010). "Google Cars Drive Themselves, in Traffic". The New York Times. Retrieved October 11, 2010. 
  4. ^ a b Sebastian Thrun (October 9, 2010). "What we're driving at". The Official Google Blog. Retrieved October 11, 2010. 
  5. ^ a b Alex Knapp (June 22, 2011). "Nevada Passes Law Authorizing Driverless Cars". Forbes. Retrieved June 25, 2011. 
  6. ^ a b c d John Markoff (May 10, 2011). "Google Lobbies Nevada To Allow Self-Driving Cars". The New York Times. Retrieved May 11, 2011. 
  7. ^ a b c Mary Slosson (May 8, 2012). "Google gets first self-driven car license in Nevada". Reuters. Retrieved May 9, 2012. 
  8. ^ Ana Valdes (July 5, 2012). Florida Embraces Self-Driving Cars Retrieved March 31, 2013.
  9. ^ John Oram (9-27-2012). Governor Brown Signs California Driverless Car Law at Google HQ Retrieved March 31, 2013.
  10. ^ "New Law Allows Driverless Cars On Michigan Roads". CBS Detroit. 28 December 2013. Retrieved 2 November 2014. 
  11. ^ CDA Press (July 8, 2014). Aye, robot: Cd'A City Council approves robot ordinance
  12. ^ Liz Gannes. "Google Introduces New Self Driving Car at the Code Conference - Re/code". Re/code. 
  13. ^ "Google's 'goofy' new self-driving car a sign of things to come". San Jose Mercury News. Retrieved 2014-12-22. 
  14. ^ Thomas Halleck (15 January 2015). "Google Inc. Says Self-Driving Car Will Be Ready By 2020". International Business Times. 
  15. ^ a b Damon Lavrinc (April 16, 2012). "Exclusive: Google Expands Its Autonomous Fleet With Hybrid Lexus RX450h". Wired. Retrieved April 24, 2012. 
  16. ^ "Crain's Detroit Business : Subscription Center". 
  17. ^ a b "Google in talks with OEMs, suppliers to build self-driving cars". Automotive News. 
  18. ^ NOAA (October 10, 2010). "What is LIDAR?". NOAA. 
  19. ^ "How Google's Self-Driving Car Works - IEEE Spectrum". Retrieved February 26, 2013. 
  20. ^ "The Trick That Makes Google's Self-Driving Cars Work". The Atlantic. May 2014. Retrieved June 15, 2014. 
  21. ^ Google Self-Driving Car Project Monthly Report August 2016
  22. ^ "Google Self-Driving Car Project Monthly Report - June 2016" (PDF). Google. Retrieved 15 July 2016. 
  23. ^ "The Test Driven Google Car". April 30, 2011. Retrieved November 19, 2012. 
  24. ^ a b Charlie Osborne. "Google's autonomous car injuries: Blame the human". 
  25. ^ Sheikh, Azzam. "Ultrasonic Sensors on Rear Wheels",, December 14, 2014
  26. ^ a b Cy Ryan (May 7, 2012). "Nevada issues Google first license for self-driving car". Las Vegas Sun. Retrieved May 12, 2012. 
  27. ^ Angela Moscaritolo (March 29, 2012). "Google's Self-Driving Car Takes Blind Man for a Ride". PC Magazine. Retrieved February 7, 2013. 
  28. ^ Self-Driving Car Test: Steve Mahan. YouTube. Retrieved February 7, 2013. 
  29. ^ Self-driving Car Logs More Miles, googleblog
  30. ^ Muller, Joann. "With Driverless Cars, Once Again It Is California Leading The Way",, September 26, 2012
  31. ^ "Legislative Session: 83(R) Bill: HB 2932", Texas Legislature Online, May 30, 2013
  32. ^ Whittington, Mark. "Law Proposed in Texas to Require Licensed Driver in Self-Driving Vehicles", Yahoo! News, Fri, March 8, 2013
  33. ^ The latest chapter for the self-driving car: mastering city street driving, googleblog
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  35. ^ Murphy, Mike. "Google's self-driving cars are now on the streets of California", Quartz, June 25, 2015
  36. ^ Smith, Alexander; Hansen, Shelby (November 13, 2015). "Google Self-Driving Car Gets Pulled Over — For Going Too Slowly". NBC News. Retrieved November 13, 2015. A Google self-driving car was pulled over by police because the vehicle was traveling too slowly, officials said. The officer in Mountain View, California, noticed traffic backing up behind the prototype vehicle, which was traveling 24 mph in a 35 mph zone, the force said. 
  37. ^ a b "California's Red Tape Slows Google's Self-Driving Roll". Retrieved 2015-11-16. 
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  45. ^ Chris Urmson. "The View from the Front Seat of the Google Self-Driving Car". Medium. 
  46. ^ JOHN MARKOFF (October 9, 2010). "Google Cars Drive Themselves, in Traffic". The New York Times. Retrieved August 12, 2012. 
  47. ^ "Human Driver Crashes Google's Self Driving Car". August 5, 2011. Retrieved May 4, 2013. 
  48. ^ "Google founder defends accident records of self-driving cars". Associated Press. Los Angeles Times. 2015-06-03. Retrieved 2016-07-01. 
  49. ^ VISHAL MATHUR (July 17, 2015). "Google Autonomous Car Experiences Another Crash". Government Technology. Retrieved July 18, 2015. 
  50. ^ "Monthly Reports". Google. Retrieved 30 October 2015. 
  51. ^
  52. ^ Did you know Google's self-driving cars can't handle 99% of roads in the US?, Computerworld]
  53. ^ Joann Muller (March 13, 2013). "No Hands, No Feet: My Unnerving Ride In Google's Driverless Car". 
  54. ^ Lee Gomes (August 28, 2014). "Hidden Obstacles for Google's Self-driving Car". 
  55. ^ "Google Self-Driving Car Chief Wants Tech on the Market Within Five Years". ReCode. 17 March 2015. Retrieved 20 March 2015. 
  56. ^ A First Drive. YouTube. 27 May 2014. 
  57. ^ Donna Tam (September 25, 2012). "Google's Sergey Brin: You'll ride in robot cars within 5 years". Retrieved October 20, 2014. 
  58. ^ Liz Gannes (May 13, 2014). "Here's What It's Like to Go for a Ride in Google's Robot Car". Retrieved October 20, 2014. 
  59. ^ "Nevada enacts law authorizing autonomous (driverless) vehicles". Green Car Congress. June 25, 2011. Retrieved June 25, 2011. 
  60. ^ Michelle Fitzsimmons (August 24, 2013). "Google may be crafting its own self-driving cars, tinkering with robo-taxis". Retrieved August 25, 2013. 
  61. ^ Billy Davies (January 24, 2014). "The future of urban transport: The self-driving car club". Retrieved January 24, 2014. 
  62. ^ B1 US patent 8630897 B1, Luis Ricardo Prada Gomez; Andrew Timothy Szybalski Sebastian Thrun & Philip Nemec et al., "Transportation-aware physical advertising conversions", published 2014-01-14, assigned to Google Inc 
  63. ^ Jaffe, Eric (April 28, 2014). "The First Look at How Google's Self-Driving Car Handles City Streets". The Atlantic Cities. Retrieved April 30, 2014. 
  64. ^ "Autonomous Vehicles in California". California Department of Motor Vehicles. 16 December 2015. Retrieved 8 January 2016. 
  65. ^ "DMV Releases Draft Requirements for Public Deployment of Autonomous Vehicles; State Seeks Public Comment on Draft Document" (Press release). Office of Public Affairs. California Department of Motor Vehicles. 16 December 2015. Retrieved 15 January 2016. 
  66. ^ Guynn, Jessica; della Cava, Marco (17 December 2015). "Google 'disappointed' by proposed restrictions on driverless cars". USA Today. Retrieved 15 January 2016. 
  67. ^ Ramsey, Mike; Barr, Alistair (16 December 2015). "California Proposes Driverless-Car Rules; State outlines guidelines for permitting autonomous-driving cars and licensing their motorists". Wall Street Journal. Retrieved 15 January 2016. 
  68. ^ Clark, Jack (16 December 2015). "California DMV Puts Brakes on Self-Driving Car Technology". Bloomberg Business. Retrieved 15 January 2016. 
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