Automated driving of Porsche Panamera

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F19%3A00339797" target="_blank" >RIV/68407700:21730/19:00339797 - isvavai.cz</a>

Result on the web

<a href="http://industrialinformatics.fel.cvut.cz/" target="_blank" >http://industrialinformatics.fel.cvut.cz/</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Automated driving of Porsche Panamera

Original language description

This work presents the algorithms and system architecture of an automated car aimed at performing a slalom use-case. Besides the sensors integrated into the Panamera car, the system is equipped with additional Differential GPS, mono camera, and 16-layers Lidar. The algorithms run on NVIDIA TX2, they are integrated using ROS middleware and interfaced with the car ECUs via FlexRay. HOG descriptor is used to create a feature vector, and SVM is used for cones classification. Data from the camera, Lidar, and DGPS are used to localize the cones and generate the map. Kalman filter derives an accurate car position and heading from DGPS and the car odometry. The bicycle model is used to formulate a nonlinear quadratic optimization problem aiming at optimal trajectory planning respecting the car kinematics. Finally, the trajectory following and lateral & longitudinal control are driving the car in the slalom. Substantial work was devoted to the experiments with a real vehicle and the fine-tuning of the system parameters. Validation of the system reveals exciting observations related to the precision, frequency, and sensitivity of the system components.

Czech name

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Czech description

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Type

R - Software

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/TN01000024" target="_blank" >TN01000024: National Competence Center - Cybernetics and Artificial Intelligence</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Internal product ID

Panamera_slalom

Technical parameters

camera, lidar, ROS, trajectory planning, controllers, Kalman filter

Economical parameters

Výsledek přispěl ke zvýšení zisku vlastníka výsledku a umožní navázání dalších kontraktů v oblasti automatizovaných automobilů.

Owner IČO

68407700

Owner name

ČVUT CIIRC, CIIRC