Autonomous Driving

In this research project we build an entire software stack for self-driving cars. The goal is to understand how artificially intelligent systems work down to their smallest components.

Cameras
help the vehicle perceive important traffic components such as pedestrians, cars, crosswalks, lanes and road signs.

  • Cameras
    help the vehicle perceive important traffic components such as pedestrians, cars, crosswalks, lanes and road signs.

  • Lidar
    measures distances to the vehicle’s surroundings through a pulsed laser light.

  • Inertial Measurement Unit
    measures force, angular rate, and acceleration through a combination of accelerometers and gyroscopes.

  • GPS
    helps the vehicle determine its location via satellite-based navigation.

  • Servo Motors
    execute all driving commands regarding steering, acceleration, and braking.

  • LED Indicator
    provides the driver with steering instructions.

  • Drive PX2
    is a dedicated hardware inside the vehicle required for real-time computations.

  • Gateway
    enables the communication between the computation hardware and the vehicle.

  • Velodyne Puck Lidar

  • Autonomous Test Vehicle Front Seat

  • Lidar/ Camera Wiring

  • Lidar/ Camera Rooftop Rack

  • Autonomous Test Vehicle Back Seat

  • Lidar/ Camera Rooftop Rack

Software

Our autonomous driving software platform explained in five steps:

Step 1
Perception


  • 1.1Introduction


  • 1.2Sensor Calibration


  • 1.3Stereo Vision


  • 1.4Semantic Segmentation


  • 1.5Object Detection


  • 1.6Road Edge Detection

Step 2
Localization and mapping


  • 2.1Introduction


  • 2.2Map-Matched Localization


  • 2.3Simultaneous Localization and Mapping (SLAM)

Step 3
Decision-Making


  • 3.1Introduction


  • 3.2Linear Environment Model


  • 3.3Reinforcement Learning


  • 3.4Real-time Path Planner

Step 4
Drive Control


  • 4.1Introduction


  • 4.2Paravan System


  • 4.3LED Indicator

Step 5
Platform


  • 5.1Introduction


  • 5.2Computing Platform Drive PX2


  • 5.3Vehicle Interface - Gateway


  • 5.4Component Framework


  • 5.5Recording/ Playback Capabilities