Perception, Planning and Control System for Automated Slalom with Porsche Panamera

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F21%3A00353430" target="_blank" >RIV/68407700:21730/21:00353430 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.46720/F2020-ACM-064" target="_blank" >https://doi.org/10.46720/F2020-ACM-064</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.46720/F2020-ACM-064" target="_blank" >10.46720/F2020-ACM-064</a>

Result language
angličtina
Original language name
Perception, Planning and Control System for Automated Slalom with Porsche Panamera
Original language description
Automation of various driving tasks is an important aspect of today’s car industry. Not requiring drivers to simultaneously concentrate on several tasks can lead to increased safety. Carmakers use automation to improve quality and reproducibility of car testing, independently on particular driver. In this paper, we focus on automation of one test scenario performed by carmakers – a slalom drive. We present hardware and software architecture that allows a stock Porsche Panamera car to drive automatically through a slalom track formed by traffic cones. Our solution relies on few additional sensors like a differential GPS, a camera, and a 16-layer LiDAR. Our control algorithms run on the NVIDIA TX2 platform and are integrated using Robotic Operating System (ROS) middleware. The perception layer detects cones in camera images using a Support Vector Machine and Histogram of Oriented Gradients feature vectors. Interfacing with the car Electronic Control Units (ECUs) is made via CAN and FlexRay buses. We validate our system in experiments with a real car.
Czech name
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Czech description
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Project
<a href="/en/project/8A19011" target="_blank" >8A19011: Arrowhead Tools for Engineering of Digitalisation Solutions</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the FISITA 2021 World Congress
ISBN
978-1-9160259-2-9
ISSN
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e-ISSN
—
Number of pages
9
Pages from-to
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Publisher name
FISITA - International Federation of Automotive Engineering Societies
Place of publication
London
Event location
Praha
Event date
Sep 14, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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