Autoware: ROS-based OSS for Urban Self-driving Mobility 2017 Autoware.pdf · ROS-based OSS for...
Transcript of Autoware: ROS-based OSS for Urban Self-driving Mobility 2017 Autoware.pdf · ROS-based OSS for...
AutowareROS-based OSS for Urban Self-driving Mobility
Shinpei KatoAssociate Professor, The University of Tokyo
Visiting Associate Professor, Nagoya University
Founder and CTO, Tier IV Inc.
https://github.com/CPFL/Autoware
Velodyne HDL-64e (3D LiDAR)
Point Grey Ladybug 5 (Camera)
IBEO LUX 8L (3D LiDAR)
Velodyne HDL-32e (3D LiDAR)
JAVAD RTK-GNSS (GNSS/GPS)
Point Grey Grasshopper3 (Camera)
Velodyne VLP-16 (3D LiDAR)
TorqueSensor
Gas PedalPositionSensor
ShiftPositionSensor
BrakeStrokeSensor
OilPressureSensor
…
Emergency Button
EPSECU Hybrid ECU
Skid ControlECU
OtherECUs
Control Box Status Monitor
CAN0CAN1
CAN I/F
OBDIIConnector
Direct signals to ECUs
bypassing CAN.
Computing Unit
Reconnected wires.
Car interior monitors.
Accessories.
CAN
Cameras3D LiDARs GNSS/GPS
31 miles along the El Camino Real in
the Bay Area along 140 traffic signals
and crosswalks during regular traffic
over a period of an hour-and-a-half.
Sensing Computing
Detection
Localization
Prediction
Perception
Decision
Planning
Motion
Mission
Intelligence State
LiDARs
Cameras
IMU
GPS
Actuation
YMC
ZMP
TMC
AS
Data Socket System Util
points_localizer
{lidar0,1,2,…}/points_raw
points_concat
dead_rekoner gnss_localizer
gnss_pose
map_manager
points_map_region points_map_updatedruntime_manager
static_pose
nmea_sentence
delta_poselocalizer_velocity
can_velocity imu_raw
current_pose
vel_pose_
connector current_velocity
Packages Example (Localization)
points_filtered
tf
manual_posetf
3D map data Sensor scan data
Matching
Localization
Normal Transform Distributions (NDT) for Localization
Convolutional Neural Networks (CNN) for Detection
Depth Image
Height Image
Intensity Image
CNN Segments
DNN Prediction
Driving School Teacher
Driving School Teacher (details)b
Automanhttps://www.automan.ai
Brake
or
Not to Brake?
NVIDIA – AutonomouStuff – Tier IV
Sensing Computing
Detection
Localization
Prediction
Perception
Decision
Planning
Motion
Mission
Intelligence State
LiDARs
Cameras
IMU
GPS
Actuation
YMC
ZMP
TMC
AS
Data Socket System Util
NVIDIA Drive PX2