Official Competition Details, Rules and Format

The 29th Annual Intelligent

Ground Vehicle Competition
(IGVC)

Self-Drive

June 3th – 6th, 2022

Oakland University
Rochester, Michigan

New in 2022
AutoNav on asphalt in 2021
continued in 2022
Self Drive Teams now eligible
for Grand Award
Self Drive changes in scoring,
stop sign test,function test segments &
new macine vision tests.
Self Drive Design Award
category added
IOP and Cyber Security on-
hold for 2022
Sec VII Awards updated

8 September 2021 version

TABLE OF CONTENTS

I COMPETITION INFORMATION
I.1 TEAM ENTRIES
I.2 VEHICLE CONFIGURATION
I.3 PAYLOADS
I.4 QUALIFICATION
I.5 INDEMNIFICATION AND INSURANCE

II AUTO-NAV CHALLENGE
II.1 OBJECTIVE
II.2 VEHICLE CONTROL
II.3 OBSTACLE COURSE
II.4 COMPETITION RULES & PROCEDURES
II.5 PRACTICE COURSE
II.6 TRAFFIC VIOLATION LAWS
II.7 HOW COMPETITION WILL BE JUDGED
II.8 GROUNDS FOR DISQUALIFICATION

III DESIGN COMPETITION

III.1 OBJECTIVE
III.2 WRITTEN REPORT
III.3 ORAL PRESENTATION
III.4 EXAMINATION OF THE VEHICLE
III.5 FINAL SCORING
III.6 DESIGN REPORT FORMAT - MANDATORY

IV IOP CHALLENGE on-hold for 2022

V SELF-DRIVE CHALLENGE
V.A1 TEAM ENTRIES
V.A2 VEHICLE CONFIGURATION
V.A3 QUALIFICATION
V.A4 INDEMNIFICATION AND INSURANCE
V.B1 OBJECTIVE
V.B2 VEHICLE CONTROL
V.B3 SAFETY REQUIREMENTS AND UNIT
TESTS
V.B4 SELF-DRIVE COURSE
V.B5 SELF-DRIVE COMPETITION RULES AND
PROCEDURES
V.B6 TRAFFIC VIOLATION LAWS
V.B7 HOW COMPETITION WILL BE JUDGED
V.B8 GROUNDS FOR DISQUALIFICATION
V.B9 SELF-DRIVE SCENARIOS
V.C1 OBJECTIVE
V.C2 WRITTEN REPORT
V.C3 ORAL PRESENTATION
V.C4 EXAMINATION OF THE VEHICLE
V.C5 FINAL SCORING
V. C6 SELF-DRIVE DESIGN REPORT FORMAT -
MANDATORY
V.D. AWARDS AND RECOGNITION
V.E. PUBLICATION AND RECOGNITION
V.F1 APPENDIX A. QUALIFICATION TESTING

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 V.F2 APPENDIX B. FUNCTIONS TESTING
V.F3 APPENDIX C. MAIN COURSE TESTING
V.G. REFERENCES

VI CYBER CHALLENGE on-hold for 2022

VII AWARDS AND RECOGNITION

VII.1 AUTO-NAV CHALLENGE
VII.2 DESIGN COMPETITION
VII.3 SELF-DRIVE CHALLENGE
VII.4 ROOKIE OF THE YEAR AWARD
VII.5 GRAND AWARD

VIII PUBLICATION AND RECOGNITION

IX “IGVC In Memory Of”

I. COMPETITION INFORMATION

I.1 TEAM ENTRIES

Teams may be comprised of undergraduate and graduate students, and must be supervised by at
least one faculty advisor. Interdisciplinary (Electrical, computer, mechanical, systems engineering, etc.)
teams are encouraged. Students must staff each team. Only the student component of each team will be
eligible for the awards. Faculty supervisor will certify that all team members are bonafide students on
application form and will also provide contact information (telephone number and e-mail address) for him
and the student team leader on the form. Business/Non-Engineering students are encouraged to join
teams to promote marketing, sponsorships, and other program management functions. For a student to
be eligible to compete as a team member, they are required to have attended at least one semester of
school as a registered student between June 2021 and June 2022.
Team sponsors are encouraged. Sponsors' participation will be limited to hardware donation and/or
funding support. Sponsors logos may be placed on the vehicle and may be displayed inside of the team
maintenance area. Teams should encourage sponsor attendance at the IGVC.
Schools are encouraged to have more than one entry; but are limited to a maximum of three per
school, and each vehicle must have a separate team of students and a design report in a defined format.
See design rules for format. Each entry must be based on a different chassis and software and must be
documented by a separate application form and design report, submitted in accordance with all
deadlines. All entries must have a team name and each application will be accompanied with a $500.00
non-refundable (after 1 March) registration.
Registrations will be accepted on a first come first served basis. Register
early to assure a confirmed team entry. Registrations are being accepted
beginning 15 August and not later than February 28, 2022, by registering
online at http://www.igvc.org/registration.htm.
Questions regarding registration should be directed to OU PACE at Professional and
Continuing Education (PACE) <[email protected]
International Teams Note
International (non-United States Teams) requiring Visa invitation letters must limit team participation to
a maximum of twelve students and two faculty. Changes and additions to original submission entry are
not permitted after March 30th, 2022

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I.2 VEHICLE CONFIGURATION for Autonomous Navigation (AutoNav)

The AutoNav competition is designed for a small semi-rugged outdoor vehicle. Vehicle
chassis can befabricated from scratch or commercially bought. Entries must conform to the following
specifications:

• Design: Must be a ground vehicle (propelled by direct mechanical contact to the ground
such as wheels, tracks, pods, etc. or hovercraft.
• Length: Minimum length three feet, maximum length seven feet.
• Width: Minimum width two feet, maximum width four feet.
• Height: Not to exceed 6 six feet (excluding emergency stop antenna).
• Propulsion: Vehicle power must be generated onboard. Fuel storage or running of internal
combustion engines and fuel cells are not permitted in the team maintenance area
(tent/building).
• Average Speed: Speed will be checked at the end of a challenge run to make sure the
average speed of the competing vehicle is above one (1) mph over the course completed.
Vehicle slower than the minimum average speed will be disqualified for the run.
• Minimum Speed: There will be a stretch of about 44 ft. long at the beginning of a run where
the contending vehicle must consistently travel above 1 mph. A vehicle slower than this speed
is considered to “hold-up traffic” and will be disqualified.
• Maximum Speed: A maximum vehicle speed of five miles per hour (5 mph) will be enforced.
All vehicles must be hardware governed not to exceed this maximum speed. No changes to
maximum speed control hardware are allowed after the vehicle passes Qualification.
• Mechanical E-stop location: The E-stop button must be a push to stop, red in color and a
minimum of one inch in diameter. It must be easy to identify and activate safely, even if the
vehicle is moving. It must be located in the center rear of vehicle at least two feet from ground,
not to exceed four feet above ground. Vehicle E-stops must be hardware based and not
controlled through software. Activating the E-Stop must bring the vehicle to a quick and
complete stop.
• Wireless E-Stop: The wireless E-Stop must be effective for a minimum of 100 feet. Vehicle
E-stops must be hardware based and not controlled through software. Activating the E-Stop
must bring the vehicle to a quick and complete stop. During the competition performance
events (Autonomous Challenge and Navigation Challenge) the wireless E-stop will be held by
the Judges.
• Safety Light: The vehicle must have an easily viewed solid indicator light which is turned on
whenever the vehicle power is turned on. The light must go from solid to flashing whenever the
vehicle is in autonomous mode. As soon as the vehicle comes out of autonomous mode the
light must go back to solid.
• Payload: Each vehicle will be required to carry a 20-pound payload. The shape and size is
approximately that of an 18" x 8" x 8" cinder block. Refer to section I.3 Payload.

I.3 PAYLOAD

The payload must be securely mounted on the vehicle. If the payload falls off the vehicle during a
run, the run will be terminated. The payload specifications are as follows: 18 inches long, 8 inches wide, 8
inches high and a weight of 20 pounds.

I.4 QUALIFICATION

All vehicles must pass Qualification to receive standard award money in the Design Competition
and compete in the Auto Nav performance events. To complete Qualification the vehicle must
pass/perform all of the following criteria.
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 • Length: The vehicle will be measured to ensure that it is over the minimum of three feet long and
under the maximum of seven feet long.
• Width: The vehicle will be measured to ensure that it is over the minimum of two feet wide and
under the maximum of four feet wide.
• Height: The vehicle will be measured to ensure that it does not to exceed six feet high; this
excludes emergency stop antennas.
• Mechanical E-stop: The mechanical E-stop will be checked for location to ensure it is located on
the center rear of vehicle a minimum of two feet high and a maximum of four feet high and for
functionality.
• Wireless E-Stop: The wireless E-Stop will be checked to ensure that it is effective for a
minimum of 100 feet. During the performance events the wireless E-stop will be held by the
Judges.
• Safety Light: The safety light will be checked to ensure that when the vehicle is powered up the
light is on and solid. When the vehicle is running in autonomous mode, the light goes from solid
to flashing, then from flashing to solid when the vehicle comes out of autonomous mode.
• Speed: The vehicle will have to drive over a prescribed distance where its minimum and maximum
speeds will be determined. The vehicle must not drop below the minimum of one mile per hour
and not exceed the maximum speed of five miles per hour. Minimum speed of one mph will be
assessed in the fully autonomous mode and verified over a 44 foot distance between the lanes
and avoiding obstacles. No change to maximum speed control hardware is allowed after
qualification. If the vehicle completes a performance event at a speed faster than the one it passed
Qualification at, that run will not be counted.
• Lane Following: The vehicle must demonstrate that it can detect and follow lanes.
• Obstacle Avoidance: The vehicle must demonstrate that it can detect and avoid obstacles.
• Waypoint Navigation: Vehicle must prove it can find a path to a single two meter navigation
waypoint by navigating around an obstacle.

During the Qualification the vehicle must be put in autonomous mode to verify the mechanical and
wireless E -stops and to verify minimum speed, lane following, obstacle avoidance and waypoint
navigation. The vehicle software cannot be reconfigured for waypoint navigation qualification. It must be
integrated into the original autonomous software. For the max speed run the vehicle may be in autonomous
mode or joystick/remote controlled. Judges will not qualify vehicles that fail to meet these requirements.
Teams may fine tune their vehicles and resubmit for Qualification. There is no penalty for not qualifying
the first time. Vehicles that are judged to be unsafe will not be allowed to compete. In the event of any
conflict, the judges’ decision will be final.

I.5 INDEMNIFICATION AND INSURANCE

Teams will be required to submit an Application Form prior to February 28, 2022. The Application
Form can be downloaded from www.igvc.org.

Each Team's sponsoring institution will also be required to submit a Certificate of Insurance at the
time the Application Form is submitted. The certificate is to show commercial general liability coverage in
an amount not less than $1 million.

In addition, each individual participating at the competition will be required to sign a Waiver
of Claims when they arrive at site and before they can participate in the IGVC events.

NOTE: The IGVC Committee and Officials will try to adhere to the above official competition details, rules
and format as much as possible. However, it reserves the right to change or modify the competition
where deemed necessary for preserving fairness of the competition. Modifications, if any, will be
announced prior to the competition as early as possible.

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 II AUTO-NAV CHALLENGE COMPETITION

All teams must pass Qualification to participate in this event.

II.1 OBJECTIVE
A fully autonomous unmanned ground robotic vehicle must negotiate around an outdoor obstacle course
under a prescribed time while maintaining a minimum of speed of one mph over a section and a maximum speed
limit of five mph, remaining within the lane, and avoiding the obstacles on the course.
Judges will rank the entries that complete the course based on shortest adjusted time taken. In the event
that a vehicle does not finish the course, the judges will rank the entry based on longest adjusted distance
traveled. Adjusted time and distance are the net scores given by judges after taking penalties, incurred from
obstacle collisions and boundary crossings, into consideration.

II.2 VEHICLE CONTROL

Vehicles must be unmanned and autonomous. They must compete based on their ability to perceive the
course environment and avoid obstacles. Vehicles cannot be remotely controlled by a human operator during
competition. All computational power, sensing and control equipment must be carried on board the vehicle. No
base stations allowed for positioning accuracy is allowed. Teams are encouraged to map the course and use that
information to improve their performance on the course.

II.3 Auto-Nav COURSE

The Auto-Nav Challenge is on asphalt pavement. The Course will be approximately 450 feet long in an
area 140ft wide and 120 feet deep. This distance is identified so teams can set their maximum speed to
complete the course pending no prior violations resulting in run termination. Track width will vary from ten to
twenty feet wide with a turning radius not less than five feet.
Outer boundaries will be designated by continuous or dashed white lines approximately three inches
wide, taped on the asphalt. Track width will be approximately ten feet wide A minimum speed will be required of
one mph and will be a requirement of Qualification and verified in each run of the Auto-Nav Challenge. If the
vehicle does not average one mph for the first 44 feet (30 seconds) from the starting line, the vehicle run will be
ended. The vehicle will then need to average over one mph for the entire run.
Competitors should expect natural or artificial inclines (ramps) with gradients not to exceed 15% and
randomly placed obstacles along the course. The course will become more difficult to navigate autonomously as
vehicle progresses. Obstacles on the course will consist of various colors (white, orange, brown, green, black,
etc.) of construction barrels/drums that are used on roadways and highways. Natural obstacles such as trees or
shrubs and manmade obstacles such as light posts or street signs could also appear on the course. The
placement of the obstacles may be randomized from left, right, and center placements prior to every run.
Simulated potholes of 2 foot diameter solid white circles may be inserted. These simulated pot must be avoided
or an end of run will occur.
There will be a minimum of five feet clearance, minimum passage width, between the line and the
obstacles; i.e., if the obstacle is in the middle of the course then on either side of the obstacle will be five feet of
driving space. Or if the obstacle is closer to one side of the lane then the other side of the obstacle must have at
least five feet of driving space for the vehicles.
The Course will be primarily sinusoidal curves with series of repetitive barrel obstacles. Two waypoint
pairs for the course will be provided prior to competition. One waypoint pair will be the entrance and exit of the
course in No Man’s Land. The two additional waypoints in No-Man’s Land will guide the vehicles to the ramp
entrance in either direction.
Five (5) minutes will be allowed for course negotiation.

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II.4 COMPETITION RULES & PROCEDURES

• The competition will take place in the event of light rain or drizzle but not in heavy rain or lightning.
• Each qualified team will have up to two runs (time permitting) in each of three heats.
• Starting order will be based on order of qualification. Teams will setup on-deck in that order. Failure
to be on-deck will place you at the end of the order for the run and may forfeit you final (second) run
in a heat based on heat time completion.
• No team participant is allowed on the course before the team’s first run, and only one student team
member is allowed on the course during a run. This shall in no case be the faculty advisor.
• At the designated on-deck time, the competing team will be asked to prepare their vehicle for an
attempt. On-deck teams start in the order they arrive in the starting area unless they give way to
another team.
• A Starting Official will call teams to the starting line. The Starting Official’s direction is final. The
Starting Officials may alter the order to enhance the competition flow of entries; e.g. slower vehicles
may be grouped together to allow successive running of two vehicles on the course simultaneously.
• A team will have one minute in the starting point to prep the vehicle at the starting line and point
out to the Competition Judges the buttons to start and stop the vehicle,
• The Competition Judge will start the vehicle by a one touch motion; i.e. pushing a remote control
button, hitting the enter key of a keyboard, a left mouse click, lifting the e-stop up, flipping a toggle
switch, etc. The Competition Judge will also carry the E-Stop.
• An attempt will be declared valid when the Competition Judge initiates the start signal at the
designated competing time. An attempt will continue until one of the following occurs:
• The vehicle finishes the course.
• The vehicle was E-Stopped by a judge’s call.
• The team E-Stops the vehicle.
• Six minutes have passed after the vehicle run has started for the Auto-Nav Course.
• The vehicle has not started after one minute after moving to the start line or at the judges’ discretion.
• Time for each heat will be strictly observed.
• Tactile sensors will not be allowed.
• Based on the above allowable run times, if the vehicle has not completed the course in the 5 minute
time period, the attempt will be ended by a judge’s choice E-stop, with no additional penalty for that
run.
• Each vehicle must navigate the course by remaining inside the course boundaries and navigating
around course obstacles. Crossing internal lines is not allowed and will be judged an E-Stop end of
run with penalty. For the following Traffic Violations, the appropriate ticket will be issued and
deducted from the overall distance or time score. Refer to section II.5 Traffic Violation Laws.

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II.5 TRAFFIC VIOLATION LAWS

Traffic Violations Ticket Value E-Stop Measurement

1 Hold-up Traffic End of Run Yes >60 secs. to 88
ft.
2 Leave the Course/Scene - 10 Feet Yes Yes
3 Crash/Obstacle Displacement - 10 Feet Yes Yes
4 Careless Driving - 5 Feet No No
5 Sideswipe/Obstacle Touch - 5 Feet No No
6 Student's Choice E-Stop - 10 Feet Yes Yes
7 Judge's Choice E-Stop 0 Feet Yes Yes
8 Blocking Traffic - 5 Feet Yes Yes
9 Loss of Payload 0 Feet Yes Yes

10 Too slow, did not average 1 mph Disqualified No No

• Hold-up traffic: Must maintain 1 mph, there will be a speed check at 44/88 foot mark of the course,
will result in end of run with time recorded
• Leave the scene\course: All portions of the vehicle cross the boundary. The overall distance will
be measured from the starting line to the furthest point where the final part of the vehicle crossed
the boundary edge.
• Crash: The overall distance will be measured from the starting line to the collision point with the
obstacle.
• Careless Driving: Crossing the boundary while at least some part of the vehicle remains in bounds.
• Student E-Stop: Student e-stop is used if the team feels that there may be damaged caused to
their vehicle or they know that it is stuck and want to end their time.
• Judge E-Stop: The overall distance will be measured from the starting line to the front of the vehicle
or where the final/furthest remaining part of vehicle if stopped, crossed the boundary outside edge.
• Obstacle Displacement: Defined as displacing permanently the obstacle from its original position.
Slightly rocking/Tilting an obstacle with no permanent displacement is not considered obstacle
displacement. An obstacle that rocks or tilts significantly but with no displacement will still be
considered a end of run. Judges calls are final.
• Blocking Traffic: Vehicles stopping on course for over one minute will be E-Stopped and measured.
• Loss of Payload: If the payload falls of the vehicle the run will be ended.
• Too Slow: If the vehicle does not maintain 1 mph minimum average speed limit throughout the
course this run is disqualified.

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II.6 HOW COMPETITION WILL BE JUDGED

• A team of judges and officials will determine compliance with all rules.
• Designated competition judges will determine the official times, distances and ticket deductions of
each entry. At the end of the competition, those vehicles crossing the finish line will be scored on
the time taken to complete the course minus any ticket deductions. Ticket values will be assessed
in seconds (one foot = one second) if the vehicle completes the course within the run time.
• The team with the adjusted shortest time will be declared the winner.
• In the event that no vehicle completes the course, the score will be based on the distance traveled
by the vehicle minus the ticket deductions. The team with the adjusted longest distance will be
declared the winner.
• For standard award money consideration, entry must exhibit sufficient degree of autonomous
mobility by completing the Auto-Nav course. If a tie is declared between entries, the award money
will be split between them.
• If your vehicle is overtaken by a faster vehicle you will be commanded to stop and your time will be
recorded and allowed to be restarted with remaining time after the faster vehicle passes. Total
distance will be assessed at the 5 minute mark of runtime.

II.7 GROUNDS FOR DISQUALIFICATION

• Judges will disqualify any vehicle which appears to be a safety hazard, degrades the course or
violate the safety requirements during the competition.
• Intentional interference with another competitor's vehicle and/or data link will result in
disqualification of the offending contestant's entry.
• Damaging the course or deliberate movement of the obstacles or running over the obstacles may
result in disqualification.
• Actions designed to damage or destroy an opponent's vehicle are not in the spirit of the competition
and will result in disqualification of the offending contestant's entry.

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III. DESIGN COMPETITION for AutoNav and Self Drive

All teams must participate in the Design Competition and submit design report in
mandatory format.

III.1 OBJECTIVE

Although the ability of the vehicles to negotiate the competition courses is the ultimate measure of
product quality, the officials are also interested in the design strategy and process that engineering teams
follow to produce their vehicles. Design judging will be by a panel of expert judges and will be conducted
separate from and without regard to vehicle performance on the test course. Judging will be based on a
written report, an oral presentation and examination of the vehicle.
Design innovation is a primary objective of this competition and will be given special attention by
the judges. Innovation is considered to be a technology (hardware or software) that has not ever been
used by this or any other vehicle in this competition. The innovation needs to be documented, as an
innovation, clearly in the written report and emphasized in the oral presentation.

III.2 WRITTEN REPORT

The IGVC report (15 page maximum) shall follow a modified version of the American Astronautical
Society (AAS) paper format that is used by the Association for Unmanned Vehicle Systems International
(AUVSI). The report must follow the outlined format provided in section III.6 (DESIGN REPORT FORMAT
– MANDATORY) located at the end of this Written Report section. Each vehicle must have a complete
report in defined format below of its own (a report cannot cover more than one vehicle). All reports, both
for new vehicles and for earlier vehicles with design changes, must include a statement signed by the
faculty advisor certifying that the design and engineering of the vehicle (original or changes) by the current
student team has been significant and equivalent to what might be awarded credit in a senior design
course.
Participants are required to submit an electronic copy in PDF format along with a scanned copy of
the statement in PDF format by May 15, 2022. Everything must be e-mailed along with any questions to
[email protected]. Reports arriving after that date will lose 10 points in scoring for each day
late, statements arriving after that date will lose 5 points in scoring for each day late. Teams are encouraged
to submit reports even several weeks early to avoid the last minute rush of preparing vehicles for the
competition, and there will be no penalty for last minute changes in the vehicle from the design reported.
The electronic copy of the report will be posted on the competition's web site in PDF format after the
completion of the competition.
The paper should present the conceptual design of the vehicle and its components. Especially
important to highlight are any unique innovative aspects of the design and the intelligence aspects of the
vehicle. Also included must be descriptions of:

Electronics Design Planning Process

electrical system signal processing
actuators plan for path following (both solid & dashed lines)
software strategy failure point & mode
sensors plan for control decisions
computers system integration plan
mapping high speed operations

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 Design of the lane following and obstacle detection/avoidance systems must be specifically
described. Along with how the vehicle uses mapping techniques to perceive and navigate through its
environment. Describe how the system uses GPS for waypoint navigation and localization.
Components acquired ready-made must be identified, but their internal components need not be
described in detail. The steps followed during the design process should be described along with any use
of Computer-Aided Design (CAD). How considerations of safety, reliability, and durability were addressed
in the design process should be specifically described, as well as problems encountered in the design
process and how they were overcome. Identification of Failure Points and Modes of hardware is required.
Furthermore, description of how failure points are addressed and resolved if they should occur during the
days of the competition. The analysis leading to the predicted performance of the vehicle should be
documented, specifically:
• Speed
• Ramp climbing ability (Self-Drive N/A)
• Reaction times
• How the system uses GPS for waypoint navigation and localization
• Battery life
• Distance at which obstacles are detected
• How the vehicle deals with complex obstacles including switchbacks and center islands dead
ends, traps, and potholes)
• How the team identifies and addresses vehicle failure points and modes (Not an FMEA)
• Accuracy of arrival at navigation waypoints
• Comparison of these predictions with actual trial data is desirable.
Although cost itself is not a factor in judging (these are considered research vehicles), the report
should include a cost estimate (not counting student labor) for the final product if it were to be duplicated.
A breakdown of the cost by component is helpful.
The team organization and the names of all members of the design team, with academic
department and class, should be included along with an estimate of the project's total number of person-
hours expended.
Vehicles that have been entered in IGVC in earlier years and have not had significant changes in
design are ineligible in either the design or performance events. Vehicles that have been changed
significantly in design (hardware or software) from an earlier year are eligible, but will require a completely
new design report treating both the old and new features, thus describing the complete vehicle as if it were
all new.

Judges will score the written reports as follows: Maximum Points

1. Conduct of the design process and team organization
(including decision-making & software development) 50
2. Failure points identification and resolution methods to be used if this
Failure occurs. (Not an FMEA) 100
3. Quality of documentation (English, grammar, completeness, and
style) 50
4. Effective innovation represented in the design (as described above) 150
5. Description of mapping technique 100
6. Description of mechanical design 100
7. Description of electronic design 100
8. Description of software strategy 150
9. Description of systems integration
Descriptions to include: lane following, obstacle detection/ 150
avoidance, and waypoint navigation (GPS or other)
10. Efficient use of power and materials 50
11. Attention given to safety, reliability, and durability and failure modes 50
Total 1050

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III.3 ORAL PRESENTATION

The technical talk should relate the highlights of the written report described above and include any
updates of the design since the written report. Audio or video tape presentations of the text are not allowed,
but graphic aids may be presented by video, slide projection, computer projection, overhead
transparencies, or easel charts. The presentation must be made by one or more student members of the
team to the judges and other interested members of the audience and should last not more than 10 minutes.
A penalty of 5 points will be assessed for each minute or fraction thereof over 11 minutes. After the
presentation, judges only may ask questions for up to 5 minutes. The audience should be considered as a
senior management group of generally knowledgeable engineers upon whom the project is dependentfor
funding and the team is dependent for their employment. Scoring will be as follows:

Judges will score the oral presentations as follows: Maximum Points

1.Clear, well planned and understandable explanation of the
innovations 50
2. Logical organization and subject knowledge of the talk 50
3. Effective use of graphic aids 30
4. Articulation and eye contact during presentation 40
5. Demonstrated simulation of vehicle control in performance events 10
6. Response to questions 10
7. Salesmanship 10
Total 200

Effective use of graphic aids includes not blocking the view of the screen by the presenter and simple
enough graphics that are large enough to read (block diagrams rather than detailed circuit diagrams).
Articulation refers to the clarity and loudness of speaking. Eye contact refers to speaking to the audience
and judges (not reading notes or screen or looking above audience heads). Response to questions means
short answers that address only the question. Salesmanship refers to the enthusiasm and pride exhibited
(why this vehicle is the best).
Participants are responsible for providing their own visual aids and related equipment (the vehicle
itself may be displayed). A computer-connected projector will be made available. Projectors may also be
supplied by the participants.
During the oral presentation, the following question period and the examination of the vehicle,
team members sitting the audience may participate by assisting the oral presenters, but at no time is the
faculty advisor to participate in this part of the design competition.

III.4 EXAMINATION OF THE VEHICLE

The vehicle must be present and will be examined by the judges preferably immediately after the oral
presentation or at another convenient time the time during the competition. Software is not included in this
judging. Judging will be as follows:

Judges will score the vehicle examinations as follows: Maximum Points

1. Packaging neatness, efficient use of space 20
2. Serviceability 20
3. Ruggedness 20
4. Safety 20
5. Degree of original content in the vehicle (as opposed to ready-made) 50
6. Style (overall appearance) 20
Total 150

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EXAMINATION OF THE VEHICLE (Self-Drive specific)
The vehicle must be present and will be examined by the judges after the oral presentation or at another
convenient time during the competition. Software is not included in this judging.

Judging will be as follows:

Penalty
Scoring Criteria Presented Passed Points
4 wheels, front and rear
bumpers, fire extinguisher
4 manual E-stops
Vehicle 1 actuator easily accessible
and labeled
no design elements harmful
to surroundings
GPS
Navigation System IMU
Etc.
camera(s)
Integrated Sensor
Fusion System LIDAR(s)
radar(s)
ultrasonic
infrared
audible and visible warning
devices in RUN mode
Safety
rear brake lights work in
autonomous mode
wireless E-stop system with
stop/restart of the vehicle
Safety E-stop E-stop actuation is smooth
and controlled (no
swerving, skidding,
excessive delay)

5-10 seconds pause after

Delay before start
entering into RUN mode
and before moving
Table 6: Vehicle Examination Scoring Sheet

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III.5 FINAL SCORING
The number of points awarded by the individual judges will be averaged for each of the 23 judging
areas above, and these results will be offered to each participating team for their edification. The total of
the average scores over all 23 areas (max 1300) will be used to determine the ranking.
When two (or three) teams of judges are used (due to a large number of entries) each judging team
will determine the top three (or two) winners in their group, and the resulting six contestants will participate
in a runoff of oral presentations and vehicle examinations judged by all judges to determine an overall
Design Winner. The six teams will be judged in random order.
For the Finals competition four criteria from the written report judging will be added to the normal oral
presentation scoring shown above for preliminary judging. Thus, the Finals Oral presentation scoring will
have maximum points as below:

Judges will score the final presentations as follows: Maximum Points

1.Clear explanation of the innovations 50
2. Description of mapping technique 30
3. Description of Electronic Design 30
4. Description of Software Strategy 30
5. Description of System Integration 30
6. Logical organization of the talk 50
7. Effective use of graphic aids 25
8. Articulation 25
9. Demonstrated Simulation of Vehicle Control 10
10. Response to questions 10
11. Salesmanship 10
Total 300

The vehicle examination scoring will be the same as in the preliminary judging, as shown above.

III.6 DESIGN REPORT FORMAT - MANDATORY

1. Title Page
 University/College Name
 Vehicle/Team Name
 Vehicle Photo/Sketch/Symbol
 Date Submitted
 Team Captain’s Name and E-Mail
 Team Members Names and E-Mails
 Faculty Advisors Name and Statement of Integrity
2. Conduct of design process, team identification and team organization
 Introduction
 Organization
 Design assumptions and design process
3. Effective innovations in your vehicle design
 Innovative concept(s) from other vehicles designed into your vehicle
 Innovative technology applied to your vehicle
4. Description of mechanical design

15
  Overview
 Decision on frame structure, housing, structure design
 Suspension
 Weather proofing
5. Description of electronic and power design
 Overview
 Power distribution system (capacity, max. run time, recharge rate, additional innovative
concepts)
 Electronics suite description including CPU and sensors system integration/feedback
concepts
 Safety devices and their integration into your system
6. Description of software strategy and mapping techniques
 Overview
 Obstacle detection and avoidance
 Software strategy and path planning
 Map generation
 Goal selection and path generation
 Additional creative concepts
7. Description of failure modes, failure points and resolutions
 Vehicle failure modes (software, mapping, etc) and resolutions
 Vehicle failure points (electronic, electrical, mechanical, structural, etc) and resolutions
 All failure prevention strategy
 Testing (mechanical, electronic, simulations, in lab, real world, etc.)
 Vehicle safety design concepts
8. Simulations employed
 Simulations in virtual environment
 Theoretical concepts in simulations
9. Performance Testing to Date
 Component testing, system and subsystem testing, etc.
10. Initial Performance Assessments
 How is your vehicle performing to date

16
V. C6 SELF-DRIVE DESIGN REPORT FORMAT - MANDATORY
1. Title Page
 University/College Name
 Vehicle/Team Name
 Vehicle Photo/Sketch/Symbol
 Date Submitted
 Team Captain’s Name and E-Mail
 Team Members Names and E-Mails
 Faculty Advisors Name and Statement of Integrity
2. Conduct of design process, team identification and team organization
 Introduction
 Organization
 Design assumptions and design process
3. Effective innovations in your vehicle design
 Innovative concept(s) from other vehicles designed into your vehicle
 Innovative technology applied to your vehicle
4. Description of mechanical design
 Overview
 Description of drive-by-wire kit
 Suspension
 Weather proofing
5. Description of electronic and power design
 Overview
 Power distribution system (capacity, max. run time, recharge rate, additional innovative
concepts)
 Electronics suite description including CPU and sensors system integration/feedback concepts
 Safety devices and their integration into your system
6. Description of software strategy and mapping techniques
Overview
 Obstacle detection and avoidance
 Software strategy and path planning
 Map generation
 Goal selection and path generation
 Additional creative concepts
7. Description of failure modes, failure points and resolutions
 Vehicle failure modes (software, mapping, etc) and resolutions
 Vehicle failure points (electronic, electrical, mechanical, structural, etc) and resolutions
 All failure prevention strategy
 Testing (mechanical, electronic, simulations, in lab, real world, etc.)
 Vehicle safety design concepts
8. Simulations employed
 Simulations in virtual environment
 Theoretical concepts in simulations
9. Performance Testing to Date
 Component testing, system and subsystem testing, etc.
10. Initial Performance Assessments
 How is your vehicle performing to date
11. Mandatory Unit Tests up to date (see V.B3 section 4)
 Unit test 1: Emergency stop
17
  Unit test 2: Emergency stop remote

 Unit test 3: Speed limit test

 Unit test 4: Right Lane boundary is crossed.

 Unit test 5: Left Lane boundary is crossed.

 Unit test 6: Object detection

 Unit test 7: Backing up operation. Speed in reverse should never exceed 2 mph (0.89 mps).

IV. INTEROPERABILITY PROFILES CHALLENGE (Robotics Architecture) on-

hold for IGVC 2022

V.

Self Drive Challenge The purpose of Self Drive is to develop student,

faculty and university skills and experience which encompasses those required to develop
automotive smart driving cars or defense intelligent vehicle systems compatible with current
roadways and future intelligent highway systems. Those capabilities include camera vision
systems, lane following obstacle and pedestrian avoidance, roadway and parking driving
maneuvers, road network navigation, road sign understanding and other traffic functions.
Components and subsystems currently used in smart driving vehicles are the preferred
approach.

V.A1 TEAM ENTRIES

18
Teams in accordance with I.1

V.A2 VEHICLE CONFIGURATION

1.2.1 The Self-Drive competition is designed for FMVSS-500/EU Quadricycle type electrical vehicles
(EV) equipped with automotive drive-by-wire systems. The primary Side by Side 2-Person EV vehicles
are John Deere, Cub Cadet, Honda, Kawasaki, Arctic Cat, Polaris, Yamaha, Kubota.

Figure 1: FMVSS-500 Vehicle Example - Polaris GEM e2

Teams may build their own drive-by-wire kits or use off the shelf drive-by-wire solutions sold by various
companies such as TORC Robotics, Dataspeed, AutonomousStuff and Clearpath Robotics.

1.2.2 Design Specifications. Entries must conform to the following specifications :

 Design: Side by Side 2-person four-wheel ground vehicle

 Type of Vehicle: Electrical, no gas

 Maximum Length: 115 in (as reference, Polaris Gem e2 is 103 in, Renault Twizy is 91 in)

 Maximum Width: 60 in (as reference, Polaris Gem e2 is 55.5 in, Renault Twizy is 47 in)

 Maximum Height: 75 in (as reference, Polaris Gem e2 is 73 in, Renault Twizy is 57 in)

 Maximum Weight: 1500 lbs

 Maximum Speed: Speed is limited to 5 mph in 2022 as safety features of Self-Drive course are
developed.
 Mechanical E-stop Location: The E-Stop button must be a push to stop, red in color and a minimum
of one inch in diameter. It must be easily identifiable and activate safely, even if the vehicle is
moving. It must be located inside the cabin, as well as outside on sides and rear of vehicle. Vehicle
E-Stops must be hardware based and not controlled through software. Activating the E-Stop must
bring the vehicle to a quick and complete stop.

19
 Wireless E-Stop: The wireless E-Stop must be effective for a minimum of 100 feet. Vehicle E-stops
must be hardware based and not controlled through software. Activating the E-Stop must bring the
vehicle to a quick and complete stop. During the competition performance events the wireless E-
stop will be held by the Judges.
 Safety Light: the vehicle must have easily identified brake lights red in color and reverse lights yellow
in color. A strobe light must be mounted on roof and activated when the vehicle is under robotic
control. During an autonomous mode the light must be blinking and otherwise be turned off.

V.A3 QUALIFICATION
On the first day of competition all vehicles must pass Qualification to receive standard award money in
the Self-Drive Design Competition and compete in Self-Drive performance events. During the
Qualification the vehicle must be put in autonomous mode to verify the mechanical and wireless E-Stops
and to verify minimum speed, lane following, obstacle avoidance and waypoint navigation. The vehicle
software cannot be reconfigured for waypoint navigation qualification, and must be integrated into the
original autonomous software. For the maximum speed run, the vehicle may be in autonomous mode or
joystick/remote controlled. Judges will not qualify vehicles that fail to meet these requirements.

Teams may fine tune their vehicles and resubmit for Qualification. There is no penalty for not qualifying
the first time. Vehicles that are judged to be unsafe will not be allowed to compete. In the event of any
conflict, the judges’ decision will be final.

To complete Qualification the vehicle must pass or perform all of the following criteria:

 Length: The vehicle will be measured to ensure that length does not exceed specifications.
 Width: The vehicle will be measured to ensure that width does not exceed specifications.
 Height: The vehicle will be measured to ensure that height does not exceed specifications.
 Weight: The vehicle weight shall not exceed 1500 lb.
 Mechanical E-stop: The mechanical E-stop will be checked for locations:
o inside the vehicle at the instrument panel.
o outside the vehicle located on two sides and rear.
 Wireless E-Stop: The wireless E-Stop will be checked to ensure that it is effective for a minimum of
100 feet.
 Passenger(s) Safety: seat belts and helmets are required.
 Safety Light:
o The Safety Light should be located on the roof of the vehicle.
o The Safety Light is on and solid when vehicle is powered up or comes out from autonomous
mode.
o The Safety Light is flashing when vehicle is running in autonomous mode.
 Speed:
o minimum speed 1 mile per hour.
o maximum speed 5 miles per hour.
o Maximum speed in reverse is 2 miles per hour.
 Lane Following: The vehicle must demonstrate that it can detect and follow lanes.
 Obstacle Avoidance: The vehicle must demonstrate that it can detect and avoid obstacles.
 Waypoint Navigation: Vehicle must prove it can find a path to a single two meter navigation
waypoint by navigating around an obstacle.

During the Qualification the vehicle must be put in autonomous mode to verify the mechanical and
wireless E -stops and to verify minimum speed, lane following, obstacle avoidance and waypoint

20
 navigation. The vehicle software cannot be reconfigured for waypoint navigation qualification. It must
be integrated into the original autonomous software. For the max speed run the vehicle may be in
autonomous mode or joystick/remote controlled. Judges will not qualify vehicles that fail to meet
these requirements. Teams may fine tune their vehicles and resubmit for Qualification. There is no
penalty for not qualifying the first time. Vehicles that are judged to be unsafe will not be allowed to
compete. In the event of any conflict, the judges’ decision will be final.

Please see section VI.1. Appendix A: Qualification Testing for further information.

V.A4 INDEMNIFICATION AND INSURANCE see section I.5

V.B1 OBJECTIVE
A fully autonomous unmanned ground robotic vehicle must negotiate around an outdoor obstacle course
under a prescribed time while maintaining a minimum of speed of one mph over a section and a
maximum speed limit of five mph, remaining within the lane, and avoiding the obstacles on the course.
Judges will rank the entries that complete the course based on shortest adjusted time taken. In the event
that a vehicle does not finish the course, the judges will rank the entry based on longest adjusted
distance traveled. Adjusted time and distance are the net scores given by judges after taking penalties,
incurred from obstacle collisions and boundary crossings, into consideration.

V.B2 VEHICLE CONTROL

Vehicles must be unmanned and autonomous. They must compete based on their ability to perceive the
course environment and avoid obstacles. Vehicles cannot be remotely controlled by a human operator
during competition. All computational power, sensing and control equipment must be carried on board
the vehicle. No base stations allowed for positioning accuracy is allowed. Teams are encouraged to map
the course and use that information to improve their performance on the course.

V. B3 SAFETY REQUIREMENTS AND UNIT TESTS

1. Overview
The Self Drive Safety Requirements had been derived from “Automated Driving Systems 2.0: A vision
for safety”, published by U.S. Department of Transportation [1]. The safety guidelines are aimed at
guiding Self-Drive teams to analyze, identify, and resolve safety considerations prior to deployment at
the Self-Drive Proving Ground.

21
2. Scope and Purpose
This compliance is mandatory and required for teams to participate.

3. Safety Elements
3.1 System Safety
The design and validation processes include a hazard analysis and safety risk assessment for vehicle
overall design. Design decisions shall address risks that could impact safety-critical system
functionality.

Design safety considerations should include:

 Design architecture
 Sensors
 Actuators
 Communication Failure
 Potential software errors
 Reliability
 Potential inadequate control
 Undesirable control actions
 Potential collisions with environmental objects and other road users
 Potential collisions that could be caused by vehicle’s actions
 Leaving the roadway
 Loss of traction or stability
 Violation of traffic laws
 Deviations from normal (expected) driving practices
All design decisions shall be tested, validated, and verified as individual subsystems and as part of the
entire vehicle architecture. It is suggested to document all changes, design choices, analysis, associated
testing and etc.

3.2 Operational Design Domain (ODD)

Roadway Type: local road with 2 lanes – 10 ft per lane, 10 ft minimum turning radius

Geographic Area: Asphalt parking lot, eg. P37 at OaklandUniversity

Speed Range:

 Speed limit – 5 mph

 Speed in Reverse - 2 mph

Environmental Conditions:

 Weather: sunny, cloudy, rainy

 Daytime

22
3.3 Object and Event Detection and Response (OEDR)
The vehicle is expected to operate in normal and pre-crash scenarios.

Normal Driving relates to:

 Keeping the vehicle in lane

 Obeying traffic laws (as outlined in the Self-Drive manual)
 Responding to barrels and mannequins (stopping and/or avoiding)

Hazardous Driving relates to:

 Vehicle’s control loss

 Crossing-path crashes
 Lane change/merge
 Road departure
 Backing up
 Parking maneuvers

3.4 Fallback (Minimal Risk Condition)

Self-Drive teams are encouraged to have a documented process for transitioning to a minimal risk
condition or safe state when a problem is encountered, or a vehicle cannot operate safely. Detections
may include the following features: vehicle has malfunctioned, operating in a degraded state or
operating outside of ODD.

3.5 Tester and Judge Safety

 All judges must wear orange reflective vests
 Observing judges must maintain safety distance from the Vehicle Under Test
 No standing forward or behind the vehicle on the test track. Minimum side distance
observation is 20 ft.
 Vehicle Testing Procedure: trained team member shall be seated at the driver’s seat and be
proficient at vehicle shutdown during malfunction. The judge shall be seated at the
passenger’s seat. The second judge, holding the remote E-stop, will observe vehicle from the
test ground. Either judge must activate E-stop (manual or remote) if vehicle starts to perform
outside of the scope of the function or route, or if the vehicle exhibits danger for environment.
 Judges will practice shutdown before vehicle tests begin

3.6 Human Machine Interface

The vehicle shall be capable of informing the human operator or occupant through various indicators,
such as warning displays, blinking lights or sounds, that the system is:

 Functioning properly
 Currently engaged in Autonomous Mode
 Currently “unavailable” for use
 Experiencing a malfunction; and/or
23
  Requesting control transition from the vehicle to the operator

3.7 Crashworthiness
1. Occupant Protection

 Occupants must wear helmets

 Seat belts should be buckled up during the test
 Doors or side vehicle webbing will protect students and judges from extending outside of the
vehicle envelope. Doors or webbing must be easily opened, released for occupant exit.

2. Surroundings at the test track

 Vehicle must apply safe-following behavior when approaching other vehicles behind in a traffic
lane, and maintain safe-following distance
 Vehicle must apply safe check-and-go behavior when pulling around a stopped vehicle, pulling
out of parking spot, moving through intersections, and in situations where collisions are
possible

3.8 Post-Incident Vehicle Behavior

 Turn off the system (disengage electrical power)
 Move vehicle off the test track to the safe location

3.9 Data Recording

During the run, the log file must be recorded. The recorded data must be immediately available upon
Judges’ request.

The minimum logged data must include:

 Timestamps
 Vehicle Speed
 Braking
 Steering angle or yaw rate
 Detected Object (relative to your system)
 Maneuver related input (relative to your system)

4. Mandatory Safety Unit Tests

For each test, provide time plot documenting vehicle movement.

4.1 Requirements
1. Test in autonomous mode
2. All vehicle speeds are in m/s
3. Stopping time is in mps (meters per second)
4. All other time is in seconds

24
4.2. Unit Tests

Unit test 1: Emergency stop

Provide plot of speed vs time

Unit test 2: Emergency stop remote

Provide plot of speed vs time

Unit test 3: Speed limit test

Provide plot of speed vs time. Accelerate until speed limit of 5 mph is reached. Plot should continue
at least for 20 seconds after the speed limit had been reached. Test your system with the following
speeds:

1) Speed is 3 mph (1.34 mps)

2) Speed is 5.2 mph (2.28 mps)
3) Speed is 6.0 mph (2.68 mps)

Unit test 4: Right Lane boundary is crossed. Apply brakes if line had been crossed.

Provide the following plots:

1) Plot speed vs time

2) Plot lateral velocity vs time

Unit test 5: Left Lane boundary is crossed. Apply brakes if line had been crossed.

Provide the following plots:

1) Plot speed vs time

2) Plot lateral velocity vs time

Unit test 6: Object detection

Apply brakes if the object is at the certain distance.

Provide the following plots:

1) Plot speed vs time

2) Plot speed vs distance to object, brake active

Unit test 7: Backing up operation. Speed in reverse should never exceed 2 mph (0.89 mps).

25
Please test the system with the following speeds:

1) Speed limit is 1 mph

2) Speed limit is 3 mph

Provide the following plot:

1) Plot speed in reverse vs time

V.B4 SELF-DRIVE COURSE

26
 Figure 2: Self-Drive Course Parking Lot 37, Oakland University

V.B5 SELF-DRIVE COMPETITION RULES AND PROCEDURES

• The competition will take place in the event of light rain or drizzle but not in heavy rain or lightning.

• Each qualified team will have up to two runs (time permitting) in each of three heats.

• Starting order will be based on order of qualification. Teams will setup on-deck in that order. Failure to
be on-deck will place you at the end of the order for the run and may forfeit you final (second) run in a
heat based on heat time completion.

• No team participant is allowed on the course before the team’s first run, and only 3 student team
members are allowed on the course during a run. This shall in no case be the faculty advisor. The
faculty advisor is allowed to be on the course during the practice time.

• At the designated on-deck time, the competing team will be asked to prepare their vehicle for an
attempt. On-deck teams start in the order they arrive in the starting area unless they give way to another
team.

• A Starting Official will call teams to the starting line. The Starting Official’s direction is final. The Starting
Officials may alter the order to enhance the competition flow of entries; e.g. slower vehicles may be
grouped together to allow successive running of two vehicles on the course simultaneously.

• A team will have one minute to prepare the vehicle at the starting line and point
out to the Competition Judges the buttons to start and stop the vehicle.

• The Competition Judge will start the vehicle by a one touch motion; i.e. pushing a remote control
27
button, hitting the enter key of a keyboard, a left mouse click, lifting the e-stop up, flipping a toggle
switch, etc. The Competition Judge will also carry the wireless E-Stop.

• An attempt will be declared valid when the Competition Judge initiates the start signal at the designated
competing time.

An attempt will continue until one of the following occurs:

• The vehicle finishes the course.

• The vehicle was E-Stopped by a judge’s call.
• The team E-Stops the vehicle.
• Six minutes have passed after the vehicle run has started for the Self-Drive Course.
• The vehicle has not started after one minute after moving to the start line or at the judges’
discretion.
• The full vehicle crossed over the lane.
• The barrel was displaced during the run.

• Time for each heat will be strictly observed.

• Tactile sensors will not be allowed.

• Based on the above allowable run times, if the vehicle has not completed the course in the 6 minute
time period, the attempt will be ended by a judge’s choice E-stop, with no additional penalty for that run.

• Each vehicle must navigate the course by remaining inside the course boundaries and navigating
around course obstacles. Crossing internal lines is allowed with penalty of 25 points.

• For the following Traffic Violations, the appropriate ticket will be issued and deducted from the overall
distance or time score. Refer to V.B6 Traffic Violation Laws.

• Hands should be visible and off the vehicle's steering wheel at all times during run time.

V.B6 TRAFFIC VIOLATION LAWS

Traffic Violations Ticket Value E-Stop Measurement
Points

1 Hold-up Traffic End of Run Yes >60 secs. to 88 ft

2 Lane Excursion - 25 Yes Yes

3 Crash/Obstacle Displacement End of Run Yes Yes

4 Sideswipe/Obstacle Touch - 25 No No

5 Student's Choice E-Stop - 10 Yes Yes

6 Judge's Choice E-Stop -0 Yes Yes

7 Blocking Traffic -5 Yes Yes

8 Too slow, did not average 1 mph Disqualified No No

Table 1: Traffic Violation Laws

28
• Hold-up traffic: An attempt to fix the issue on the spot, withholding an opportunity for other teams to
run
• Lane Excursion: A portion of the vehicle crosses a lane. The penalty is applied only once per
segment of the course. The number of excursions per segment is recorded.
• Crash/Obstacle Displacement: The barrel or another obstacle was fully displaced from its original
position.
• Sideswipe/Obstacle Touch: The barrel was touched without being displaced.
• Student E-Stop: Student e-stop is used if the team feels that there may be damaged caused to their
vehicle or they know that it is stuck and want to end their time.
• Judge E-Stop: The overall distance will be measured from the starting line to the front of the vehicle or
where the final/furthest remaining part of vehicle if stopped, crossed the boundary outside edge.
• Blocking Traffic: Vehicles stopping on course for over one minute will be E-Stopped and measured.
• Too Slow: If the vehicle does not maintain 1 mph minimum average speed limit throughout the course
this run is disqualified.

V.B7 HOW COMPETITION WILL BE JUDGED

• A team of judges and officials will determine compliance with all rules.
• Designated competition judges will determine the official times, distances and ticket deductions of each
entry. At the end of the competition, those vehicles crossing the finish line will be scored on the time
taken to complete the course minus any ticket deductions. Ticket values will be assessed in seconds
(one foot = one second) if the vehicle completes the course within the run time.

• The team with the adjusted shortest time will be declared the winner.

• In the event that no vehicle completes the course, the score will be based on the distance traveled by
the vehicle minus the ticket deductions. The team with the adjusted longest distance will be declared the
winner.

• In the event that two or more teams had completed the course, the team with the better time score will
be declared the winner.

• The scoring criteria is based on the weighted combination of Function Testing (54 % weight) and
completed Self-Drive course (46 % weight).Please see "Table 8: Self-Drive Cumulative Scoring System
Example" for further details.

V.B8 GROUNDS FOR DISQUALIFICATION

• Judges will disqualify any vehicle which appears to be a safety hazard or violate the safety
requirements during the competition.

• Intentional interference with another competitor's vehicle and/or data link will result in disqualification of
the offending contestant's entry.

• Damaging the course or deliberate movement of the obstacles or running over the obstacles may result
in disqualification.

• Actions designed to damage or destroy an opponent's vehicle are not in the spirit of the competition
and will result in disqualification of the offending contestant's entry.

29
V.B9 SELF-DRIVE SCENARIOS
All tests shall be conducted on the paved test track with an open sky environment. The course will be
two lanes wide and each lane will have a width of 10 eight ft. No other vehicles or unauthorized
personal shall be present when the tests are active. The team's representative shall be seated at the
driver seatand the test judge shall be seated as a passenger. The judge shall hold the remote e-stop in
his/her hands.
After passing Qualification Testing (Appendix A), the team is ready for Self-Drive Functions Testing
(Appendix B) and Main Course (Appendix C).

The following signs and obstacles may be present on the track during Functions Testing and Main
Course.

Sign / Obstacle Dimensions

"Road Closed" 24" H x 30" W

minimum height from ground is 5 feet

"One Way" 12" H x 36" W

minimum height from ground is 5 feet

"Stop" 24" H x 24" H

minimum height from ground is 5 feet

“No Turns" 24" H x 24" H

minimum height from ground is 5 feet

Mannequin 71.7" height, 18.1" width shoulder to shoulder, 37.4" chest, 29.9"
waist, 37.8" hips

Barrel(s) 39.7"H x 23.5"W

Weight: 8 lbs

Pothole 2' diameter

solid white circle or plastic mirror

Table 2: Traffic Signs and Obstacles specifications

The evaluation will be completed with two judges who will track the vehicle through each test. Evaluation
points and comments will be marked in the Self-Drive Evaluation Worksheet. After the testcompletion,
the test score will be reviewed with a team representative. The Judge(s) and a team representative will
initial the evaluation sheet upon finished discussion.

30
 V.C1 Design OBJECTIVE See Sec III
Although the ability of the vehicles to negotiate the competition courses is the ultimate measure of
product quality, the officials are also interested in the design strategy and process that engineering
teams follow to produce their vehicles. Design judging will be by a panel of expert judges and will be
conducted separate from and without regard to vehicle performance on the test course. Judging will be
based on a written report, an oral presentation and examination of the vehicle.
Design innovation is a primary objective of this competition and will be given special attention by the
judges. Innovation is considered to be a technology (hardware or software) that has not ever been
usedby this or any other vehicle in this competition. The innovation needs to be documented, as an
innovation, clearly in the written report and emphasized in the oral presentation.

V.D AWARDS AND RECOGNITION

All schools are only eligible to win award money once per Self-Drive; if more than one team from
the same school places in the event, only the highest placing team will be placed in a standing
and receive money for Self-Drive.

The scoring criteria is based on the weighted combination of Functions Testing (54 % weight) and completed Self-
Drive course (46 % weight).
Please see the example below:

Table 8: Self-Drive Cumulative Scoring System Example

31
 Awards See Section VII
V.E PUBLICATION AND RECOGNITION
Internal recognition of all participating teams through Self-Drive publications.
Videos of the competition event will be distributed to sponsors, media and the public. All design reports,
articles, videos and pictures will be posted on the IGVC website www.igvc.org

V. F1 APPENDIX A. QUALIFICATION TESTING

Test # of Penalty
Test Type Name Time Comments
ID Runs Points
Qualification Q.1 E-Stop Manual
Qualification Q.2 E-Stop Wireless
Lane Keeping (Go
Qualification Q.3
Straight)
Qualification Q.4 Left Turn
Qualification Q.5 Right Turn
Table 12: Qualification Test Data Sheet

32
Qualification Test Descriptions

Test Q.1 E-Stop Manual

1. Test Goal

This test is intended to evaluate safety features of Manual E-Stop.

Figure 3: Qualification Testing. E-Stop Manual

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Flag 2 to indicate the position where E-Stop button is pressed
o Flag 3 to indicate the maxim distance for the vehicle to come to the complete stop

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed
5. Judge manually pushes E-Stop at Flag 2
6. Vehicle comes to full stop before reaching Flag 3
7. End test run

4. Evaluation

Pass / Fail Criteria - vehicle is able to stop before reaching Flag 3

33
Test Q.2 E-Stop Wireless
1. Test Goal

This test is intended to evaluate safety features of Wireless E-Stop

Figure 4: Qualification Testing. E-Stop Wireless

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Flag 2 to indicate the position where E-Stop button is pressed
o Flag 3 to indicate the maxim distance for the vehicle to come to the complete stop

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4 – 5 mph)
5. Judge manually pushes E-Stop at Flag 2
6. Vehicle reaches full stop before reaching Flag 3
7. End test run

4. Evaluation

Pass / Fail Criteria - vehicle is able to stop before reaching Flag 3

34
Test Q.3 Lane Keeping (Go Straight)
1. Test Goal

This test is intended to evaluate if the vehicle is able to stay within lane boundaries, without wheels
crossing the line or driving on the line.

Figure 5: Qualification Testing. Lane Keeping. Go Straight

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrel about 50 ft away to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4 – 5 mph)
5. Vehicle reaches full stop within 3 ft from the obstacle (barrel)
6. End test run

4. Evaluation

Pass / Fail Criteria - vehicle stays within lane boundaries without wheels crossing the lines. Vehicle
reaches full stop within 3 ft of barrel.

35
Test Q.4 Left Turn
1. Test Goal

This test is intended to evaluate if a vehicle is able to make a left turn across the traffic, merge into
expected lane and drive within this lane until an obstacle is detected.

Figure 6: Qualification Testing. Left Turn

2. Test setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary. The flag could be placed near the
stop bar or several feet away from the stop bar per judges’ decision.
o Barrel to indicate ending point. The barrel is placed about 30 ft away from the stop bar in the
right lane

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 2 – 5 mph)
5. Vehicle turns left across the traffic and merges into correct lane
6. Vehicle maintains the target speed (between 2 – 5 mph)
7. Vehicle reaches full stop within 3 ft from the obstacle (barrel)
8. End test run
4. Evaluation

Pass / Fail Criteria - vehicle is able to turn left, merge into correct lane and stop without hitting the
barrel or crossing boundaries
36
Test Q.5 Right Turn
1. Test Goal

This test is intended to evaluate if the vehicle is able to make a right turn, merge into the lane and drive
within a lane until an obstacle is detected.

Figure 7: Qualification Testing. Right Turn

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary. The flag could be placed near the
stop bar or several feet away from the stop bar per judges’ decision.
o Barrel to indicate ending point. The barrel is placed about 30 ft away from the stop bar in the
right lane

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4 – 5 mph)
5. Vehicle makes right turn and merges into correct lane
6. Vehicle maintains the target speed (between 4 – 5 mph)
7. Vehicle reaches full stop within 3 ft from the obstacle (barrel)
8. End test run

4. Evaluation

Pass / Fail Criteria - vehicle is able to turn right, merge into correct lane and stop without hitting the
barrel or crossing boundaries
37
 V. F2 APPENDIX B. FUNCTIONS TESTING
Function Testing consists of the following independent tests:

Test Penalty
Type Test ID Name # of Runs Time Points Comments
I. Traditional Machine Vision Tests
Function I.1 White Lines Detection
Function I.2 Pedestrian Detection
Function I.3 Tire Detection
II. Traffic Sign Tests
Function II.1 Stop Sign Detection
III. Intersection Tests
Function III.1 Lane Keeping
Function III.2 Left Turn
Function III.3 Right Turn
IV. Parking Tests
Function IV.1 Parking. Pull Out
Function IV.2 Parking. Pull In
Function IV.3 Parking. Parallel
V. VRU (Vulnerable Road User) Tests
Unobstructed STATIC Pedestrian
Function V.1 Detection
Obstructed DYNAMIC Pedestrian
Function V.2 Detection
STATIC Pedestrian Detection. Lane
Function V.3 Changing
Function V.4 Obstacle Detection. Lane Changing
VI. Curved Road Evaluation Tests
Function VI.1 Curved Road Evaluation. Lane Keeping
Function VI.2 Curved Road Evaluation. Lane Changing
VII. Other Tests
Function VII.1 Pothole Detection
Function VII.2 Merging
Table 13: Function Testing Scoring Sheet

Traditional machine vision and signs detection tests require GUI interface with displayed results during the test. The
Stop Sign detection test shall display a relevant classification as “Stop Sign” or “Unknown”.

38
I. Traditional Machine Vision Tests
The goals of the traditional Machine Vision tests are to foster object detection primarily based on shape and color.
Traditional machine vision and signs detection tests require GUI interface with displayed results during the test.

Test FI.1 White Line Detection

1. Test Goal

This test is intended to evaluate detection of white lines using traditional Machine Vision
algorithms. There are NO PENALTIES for crossing or moving over a line. A GUI interface with
extracted white lines MUST be present during a run.

Figure 9: Machine Vision Tests. White Lines Detection

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

3. Test Script
1. Begin test run
2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 2 – 5 mph)
5. Judge pushes ‘start’ button
6. End test run

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Test FI.2 Static Pedestrian Detection
1. Test Goal

This test is intended to evaluate detection of a mannequin using traditional Machine Vision
algorithms. A mannequin wears ORANGE construction vest. A GUI interface with extracted
orange blob MUST be present during a run. There are NO PENALTIES for crossing or moving
over a line.

Figure 10: Machine Vision Tests. Static Pedestrian Detection

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

3. Test Script
1. Begin test run
2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 2 – 5 mph)
5. Judge pushes ‘start’ button
6. End test ru

40
Test FI.3 Tire Detection

1. Test Goal

This test is intended to evaluate detection of a small item present in a current lane using
traditional Machine Vision algorithms. A GUI interface with extracted shape of a tire MUST be
present during a run. There are NO PENALTIES for crossing or moving over a line.

Figure 11: Machine Vision Tests. Tire Detection

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

3.Test Script
1. Begin test run
2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 2 – 5 mph)
5. Judge pushes ‘start’ button
6. End test run

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II. Traffic Sign Tests

Test FII.1 Stop Sign Detection

1. Test Goal

This test is intended to evaluate Stop Sign classification detection and accuracy. Before test, a
RANDOM picture might be put on top of a STOP sign. A forgery sign could be red in color with
different letters, be a different color with same letters or be a different picture. A GUI interface
shell display a relevant classification as “Stop Sign” or “Unknown”. There are NO PENALTIES for
crossing or moving over a lane.

Figure 12: Functions Testing. Stop Sign Detection

2. Test Setup

a. Flag 1 to indicate starting point at which vehicle is stationary

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 2 – 5 mph)
5. Vehicle reaches full stop within 2 ft from the "Stop" sign
6. End test run

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 III. Intersection Tests
The goals of the Intersection tests are to evaluate vehicle’s ability to maneuver at a road intersection.

Test FIII.1. Lane Keeping

1. Test Goal

This test is intended to evaluate if the vehicle is able maneuver within lane boundaries, without wheels
crossing the line or driving on the line while driving XX road drive.

Figure 13: Intersection Tests. Lane Keeping

2. Test Setup

The following items shall be placed on the road:

2. Flag 1 to indicate starting point at which vehicle is stationary

3. 'Stop' sign
4. Barrel to indicate ending point

3.Test Script
1. Begin test run
2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4 – 5 mph)
5. Vehicle reaches full stop within 30 cm from perpendicular white line next to the "Stop" sign
6. Vehicle takes off from full stop
7. Vehicle maintains the target speed (between 4 – 5 mph)
8. Vehicle reaches full stop within 3 ft the obstacle (barrel)
9. End test run

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Test FIII.2. Intersection Testing. Left Turn
1. Test Goal

This test is intended to evaluate if a vehicle is able to stop at the 'Stop' traffic sign, make a left turn
across the traffic, merge into expected lane and drive within this lane until an obstacle is detected.

Figure 14: Intersection Testing. Left Turn

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o 'Stop' sign
o 'One Way' sign
o Barrel to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4-5 mph)
5. Vehicle reaches full stop within 30 cm from perpendicular white line next to the "Stop" sign
6. Vehicle takes off from full stop
7. Vehicle turns left across the traffic and merges into correct lane
8. Vehicle maintains the target speed (between 4 – 5 mph)
9. Vehicle reaches full stop within 3 ft from the obstacle (Barrel)
10.End test run

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Test FIII.3. Intersection Testing. Right Turn
1. Test Goal

This test is intended to evaluate if a vehicle is able to stop at the 'Stop' traffic sign, make a right turn,
merge into the lane and drive within a lane until an obstacle is detected.

Figure 15: Intersection Testing. Right Turn

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o 'Stop' sign
o 'One Way' sign
o Barrel to indicate blocked road
o Barrel to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4 – 5 mph)
5. Vehicle reaches full stop within 30 cm perpendicular white line next to the "Stop" sign
6. Vehicle takes off from full stop
7. Vehicle turns right and merges into correct lane
8. Vehicle maintains the target speed (between 4 – 5 mph)
9. Vehicle reaches full stop within 3 ft from the obstacle (Barrel)
10. End test run

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IV. Parking Tests

Test FIV.1 Parking. Pull Out

1. Test Goal

This test is intended to evaluate if a vehicle is able to reverse out (or pull out) of the representative
parking space.

Figure 16: Parking. Pull Out

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrel to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle slowly pulls out from the parking spot
5. Vehicle reaches full stop within 3 ft from the obstacle (Barrel)
6. End test run

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Test FIV.2. Parking. Pull In
1. Test Goal

This test is intended to evaluate if a vehicle is able to pull into a representative parking space.

Figure 17(a,b): Functions Testing. Parking. Pull In

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Flag2 to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle slowly pulls into the parking spot
5. Vehicle reaches full stop. It should be fully in the box without crossing any lines.
6. End test run

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Test FIV.3. Parking. Parallel
1. Test Goal

This test is intended to evaluate if a vehicle is able to parallel park into the representative parking space.

Figure 17: Functions Testing. Parking. Parallel

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrel 1 to indicate 1st obstacle in front of the parking spot
o Barrel 2 to indicate 2nd obstacle behind the parking spot

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle backs off from full stop at Flag 1
4. Vehicle slowly pulls into the parking spot
5. Vehicle reaches full stop. It should be fully in the box without crossing any lines.
6. End test run

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V. VRU (Vulnerable Road User) and Obstacle Tests

Test FV.1 Unobstructed STATIC pedestrian detection

This test evaluates ability of Ego vehicle to stop if a pedestrian is detected within boundaries of a current lane.

Figure 19: Functions Testing. Unobstructed Static Pedestrian Detection

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrel to indicate ending point
o Mannequin

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4 – 5 mph)
5. Vehicle reaches full stop within 5 ft from the obstacle (Mannequin)
6. End test run

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Test FV.2 Obstructed DYNAMIC pedestrian detection
1. Test Goal

This test evaluates ability of Ego vehicle to stop if an obstructed by barrel pedestrian (mannequin)
suddenly starts crossing an Ego’s vehicle lane.

Figure 20: Functions Testing. Obstructed Dynamic Pedestrian Detection

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrel to indicate ending point
o Mannequin

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 3 – 5 mph)
5. Vehicle reaches full stop within 5 ft from the obstacle (Mannequin)
6. End test run

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Test FV.3 STATIC Pedestrian Detection. Lane Changing

1. Test Goal

This test imitates a situation of a broken vehicle in a current lane with STATIC pedestrian standing
BEHIND a barrel and in FRONT of Ego’s vehicle. Ego vehicle must slow down and safely change into
an adjacent lane.

Figure 21: Functions Testing. Pedestrian Detection. Lane Changing

2. Test Setup
There will be a distance of approximately 85 ft between the mannequin/barrel when mannequin will start
crossing the road.
The following items shall be placed on the road:
o Flag 1 to indicate starting point at which vehicle is stationary
o Mannequin to indicate obstacle
o Barrels 1 and 2 to indicate broken vehicle in a current lane
o Barrel 3 to indicate end of a run

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 3 -5 mph)
5. Vehicle detects Mannequin
6. Vehicle performs safe transition into the next lane 10 ft away from the Mannequin
7. Vehicle maintains the target speed in the new lane (between 3-5 mph)
8. Vehicle reaches full stop within 3 ft from the obstacle (Barrel 3)
9. End test run

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Test FV4. Obstacle detection. Lane Changing
1. Test Goal

This test evaluates Ego vehicle’s ability to safely change lane if a stationary object is present within a
current lane.

Figure 22: Functions Testing. Obstacle Detection. Lane Changing

1. Test Setup
There will be a distance of approximately 85 ft between the barrel and the vehicle.
The following items shall be placed on the road:
o Flag 1 to indicate starting point at which vehicle is stationary
o Barrel 1 to indicate obstacle
o Barrel 2 to indicate ending point

2. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 3 – 5 mph)
5. Vehicle detects obstacle (Barrel 1) and safely moves into the next lane
6. Vehicle maintains the target speed in the new lane (between 3 – 5 mph)
7. Vehicle reaches full stop within 3 ft from the obstacle (Barrel 2)
8. End test run

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VI. Curved road Evaluation Tests
The minimum inside curve radius is 10 meters (32.8084 feet).

Test FVI.1 Curved Road Evaluation. Lane Keeping

1. Test Goal

This test is intended to evaluate Ego vehicle’s ability to stay in the lane on a curved road and be able to stop at the
obstacle within a current lane. This test consists of 4 possible case scenarios: driving in right lane on the left
curve, driving in left lane on the left curve, driving in right lane on the right curve and driving in left lane on the right
curve. Any of above scenarios could be chosen as this year’s test.

Figure 23: Functions Testing. Curved Road Evaluation. Lane Keeping

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrel to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 3 – 5 mph)
5. Vehicle reaches full stop within 3 ft from the obstacle (barrel)
6. End test run

53
Test FVI.2 Curved Road Evaluation. Lane Changing
1. Test Goal

This test is intended to evaluate if a vehicle is able to perform a lane change on the curved road if
obstacles are detected. This test consists of 4 possible case scenarios: changing right lane on the left
curve, changing left lane on the left curve, changing right lane on the right curve and changing left lane
on the right curve. Any of above scenarios could be chosen as this year’s test.

Figure 24: Functions Testing. Curved Road Evaluation. Lane Changing

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 Figure 25: Types of Curved Road Evaluation scenarios

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrel 1 to indicate 1st obstacle
o Barrel 2 to indicate 2nd obstacle
o Barrel 3 to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 3 – 5 mph)
5. Vehicle detects obstacle (Barrel 1) and safely moves into the next lane
6. Vehicle maintains the target speed in the new lane (between 3 – 5 mph)
7. Vehicle detects obstacle (Barrel 2) and safely moves into the next lane
8. Vehicle maintains the target speed in the new lane (between 3 – 5 mph)
9. Vehicle reaches full stop within 3 ft from the obstacle (Barrel 3)
10. End test run

55
VII. Other Tests
Test FVII.1 Pothole Detection
1. Test Goal

This test is intended to evaluate Ego vehicle’s ability to detect a pothole and safely change lane.

Figure 26: Functions Testing. Pothole Detection

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Pothole (2 feet diameter solid white circle or plastic mirror)
o Barrel to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 4 – 5 mph)
5. Vehicle detects pothole and safely moves into the next lane
6. Vehicle maintains the target speed in the new lane (between 4 – 5 mph)
7. End test run

56
Test FVII.2 Merging
1. Test Goal

This test is intended to evaluate if a vehicle is able to perform a merge onto a representative highway.

Figure 27: Functions Testing. Merging without Waypoints

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary
o Barrel to indicate ending point

3. Test Script

1. Begin test run

2. Judge pushes 'start' button
3. Vehicle takes off from full stop at Flag 1
4. Vehicle maintains the target speed (between 3 – 5 mph)
5. Vehicle merges into the next lane
6. Vehicle maintains the target speed (between 3 – 5 mph)
7. Vehicle reaches full stop within 3 ft from the obstacle (Barrel)
8. End test run

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 V. F3 APPENDIX C. MAIN COURSE TESTING

Main Test Description

1. Test Goal

This test is intended to evaluate if a vehicle is able to follow lane, change lane, detect and avoidobstacles,
detect signs, merge into loop and park at the specified locations.

At least two waypoints will be present on the course.

[TBD]

Figure 23: Main Course Testing Location, Oakland University

2. Test Setup

The following items shall be placed on the road:

o Flag 1 to indicate starting point at which vehicle is stationary

o Barrels
o Mannequin
o Signs

3. Test Script

TBD

58
 4. Evaluation

Name:
Penalty
Item Functions Attempted Passed Points
1 Speed within limits
wheels completely within
marked boundaries of travel
2 Lane Keeping lane
moves completely to next
lane
Lane Changing
keeps safe distance from
3 obstacle during the change
static pedestrian
Pedestrian Detection unobstructed pedestrian
4 obstructed pedestrian
stationary vehicle
Obstacle/Vehicle
moving ahead vehicle
Detection
5 crossing vehicle
5-10 seconds delay before
Merging merging
passed 2 or more GPS
6 waypoints
7 Left Turn 10 sec delay
8 Right Turn
Intersection
9 detection/logic
10 Stop sign/ cross lines
detection
11 Pothole detection

Table 14: Overall Test Performance Scoring Sheet

V.G REFERENCES
[1]. “Automated Driving Systems 2.0: A vision for safety”. U.S. Department of Transportation, NHTSA,
September 2017

https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13069a-ads2.0_090617_v9a_tag.pdf

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60
VI. CYBER CHALLENGE on-hold for 2022

VII. AWARDS AND RECOGNITION

All schools are only eligible to win award money once per event (Auto-Nav
Challenge, Design Competition and IOP Challenge); if more than one team from
the same school places in the same event, only the highest placing team will be
placed in a standing and receive money for that event.

VII.1 AUTO-NAV & SELF DRIVE CHALLENGE COMPETITION

Award Money
(Vehicle must complete AutoNav course autonomously and
Self Drive vehicle must perform all functions and full course
autonomous)
1ST Place $ 3,000
2ND Place $ 2,000
3RD Place $ 1,500
4TH Place $ 1,000
5TH Place $ 750
6TH Place $ 500

Nominal Award Money

(AutoNav must attain one ramp waypoint in No Man;s Land & Self drive Vehicle must qualify
and successfully complete Function Tests 1-4)
ST
1 Place $ 1,000
2ND Place $ 800
3RD Place $ 600
4TH Place $ 500
5TH Place $ 400
6TH Place $ 300

61
VII.2 VEHICLE DESIGN COMPETITION

Design Competition Standard Awards

Dr. William G. Agnew Awards

Auto Self
Nav Drive
1ST Place $ 2,000 2000
2ND Place $ 1,500 1500
3RD Place $ 1,000 1000
4TH Place $ 750 -------
5TH Place $ 500 -------
6TH Place $ 250 -------
Nominal Award Money
(Vehicle did not pass Qualification)

Auto Self
Nav Drive
1ST Place $ 600 600
2ND Place $ 500 500
3RD Place $ 400 400
4TH Place $ 300 -----
5TH Place $ 200 -----
6TH Place $ 100 -----

VII.3 IOP CHALLENGE on-hold for 2022

VII.4 CYBER CHALLENGE AWARDS for AutoNav or Self Drive on-hold for 2022

VII.5 ROOKIE-OF-THE-YEAR AWARD

The Rookie-of-the-Year Award will be given out to a team from a new school competing for the first
time ever or a school that has not participated in the last five competitions (for this year the team would
be eligible if they haven’t competed since the 2012 IGVC). To win the Rookie-of-the-Year Award the
team must be the best of the eligible teams competing and perform to the minimum standards of the
following events. In the Design Competition you must pass Qualification, in the AutoNav Challenge you
must pass the Rookie Barrel and in the IOP Challenge you must be compliant. The winner of the Rookie-
of-the-Year Award will receive $1,000 in award money; in the case the minimum requirements are not
met the best of the eligible teams competing will receive $500.

VII.6 GRAND AWARD

The Grand Award trophies will be, presented to the top three teams that perform the best
overall in either AutoNav or Self Drive (combined scores per below), in three challenges. For
each Challenge, points will be awarded to each team, below is a breakdown of the points:
62
Standard Grand Award Points*
Challenge AN or SD First Second Third Fourth Fifth Sixth

Auto-Nav-Self Dr 24 20 16 12 8 4
Design 12 10 8 6 4 2

Nominal Grand Award Points**

Challenge First Second Third Fourth Fifth Sixth

Auto-Nav 12 10 8 6 4 2
Design 6 5 4 3 2 1

* For Standard Grand Award Points, the team must complete the Auto-Nav & Self Drive
courses and qualify in Auto Nav or Self Drive for the Design Competition points and fully
participate in all IOP Challenge aspects for IOP points.

** For Nominal Grand Award Points in each Challenge, The team must qualify to be eligible in
the Auto-Nav or Self Drive Challenges and have their vehicle present for the Design
Competition and IOP Challenge.

VIII PUBLICATION AND RECOGNITION

International recognition of all participating teams through AUVSI publications.

Videos of the competition event will be distributed to sponsors, media and the public. All design
reports, articles, videos and pictures will be post on the IGVC website www.igvc.org.
Name Years as Editor
Jerry Lane, Jane Tarakhovsky & Andrew Kosinski 2018-2021
Jerry Lane & Andrew Kosinski 2014-2018
Bernard Theisen 2013-2014
Jerry Lane 2011-2013
Bernard Theisen 2006-2010
Greg Gill 2005-2006
Bernard Theisen 2004-2005
Dan Maslach 2003-2004
Bernard Theisen 2001-2003
Stephen W. Roberts 2000-2001
Scot Wheelock 1999-2000
Geoff Clark 1998-1999
G. Edzko Smid 1997-1998
Candy McLellan and G. Edzko Smid 1996-1997
Jerry Lane, Paul Lescoe and Ka C. Cheok 1992-1996
IGVC Rules Editors

63
 All questions and concerns should be e-mailed to [email protected].

IX “IGVC In Memory Of”

Paul Lescoe TARDEC Robotics Engineer IGVC Co-Founder & Co-Chair
Dr. James Overholt TARDEC Chief Roboticist IGVC Judge & Official
Dr. Nattu Natajaran UMD Professor IGVC Faculty
Wayne Wheelock Former TARDEC Director IGVC Design Judge

Dr William G. Former GM Research Lab IGVC Design Challenge,

Agnew Director Navigation Challenge, and
Follow the Leader Challenge
Founder

Hank Lewandowski IGVC supporter Printed IGVC T and official

shirts 1992-2001

8 September 2021 version

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