[자율주행 스터디] Introduction to Self-Driving cars - Week 2-3

Week 2 - Self-Driving Hardware and Software Architectures

Course info.

• https://www.coursera.org/learn/intro-self-driving-cars?
  • UNIVERSITY OF TORONTO

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Lesson 3 : Software Architecture

Contents

• Describe the basic architecture of a typical self-driving software system
• Identify the standard software decomposition
  • Environment Perception
  • Environment Mapping
  • Motion Planning
  • Controller
  • System Supervisor

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Software Architect | High-level

1. Sensors output
2. Environmental Mapping & Perception
   1. Identiftying current location of Autonomous vehicle in space
   2. Classifying and locating important elements of the environment for driving task
3. Motion Planning
4. Controller
5. Actuation

• (+) System Supervisor

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Software Architect | Environmental Perception

• Module: Localization
  • Input
    • GPS / IMU / Wheel Odometry
    • Lidar / Camera (for greater accuracy)
  • Output
    • Vehicle position
• Module: Dynamic object detection
  1. Dynamic object detection
     • Input
       • GPS / IMU / Wheel Odometry
       • Lidar / Camera / Radar
     • Output
       • Bounding boxes
  2. Dynamic obejct tracking
     • Input
       • Bounding boxes
     • Output
       • Object tracks
  3. Object motion prediction
     • Input
       • Object tracks
     • Output
       • Dynamic objects
• Module: Static object detection
  • Input
    • GPS / IMU / Wheel Odometry
    • Lidar / Camera / Radar
    • HD Road Map
  • Output
    • Static objects

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Software Architect | Environmental Maps

1. Occupancy Grid Map
   • Input
     • Object tracks
     • Lidar
2. Localization Map
   • Input
     • Lidar
     • Camera
   • Output
3. Detailed Road Map
   • Input
     • Prior Road Map
     • Vehicle Position
     • Segmented Image
     • Static Objects

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Software Architect | Motion Planning

• Mission Planner (Long-term)
  • Input
    • Current Goal
    • Detailed Road Map
    • Vehicle Position
  • Output
    • Mission Path
• Behavior Planner (Short-term)
  • Input
    • Mission Path
    • Detailed Road Map
    • Occupancy Grid
  • Output
    • Behavior Constraints
• Local Planner
  • Input
    • Occupancy Grid
    • Vehicle Position
    • Dynamic Objects

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Software Architect | Vehicle Contoller

• Velocity Controller
  • Input
    • Vehicle Position
    • Planned Trajectory
  • Output
    • Throttle Percentage
    • Brake Percentage
• Steering Controller
  • Input
    • Vehicle Position
    • Planned Trajectory
  • Output
    • Steering Angle

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Software Architect | System Supervisor

• Software Supervisor
  • Functions
    • Validate this sofrware stack to make sure that all elements are running as inteded at the right frequencies and providing complete outputs
  • Input
    • Environment perception
    • Environment mapping
    • Motion planning
    • Controller
• Hardware Supervisor
  • Functions
    • Monitors all hardware components to chekc for any faults
    • Analyze the hardware outputs for any outputs which do not match the domain which the self-driving car was programmed to perform under
  • Input
    • Sensor outputs