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Cup3, and the Crazy Car4 race, which has been hosted by
FH Joanneum in Austria since 2008, where students from
schools and universities are eligible for participation.
Other relevant competitions comparable to the FSD are
the DARPA Challanges of 2004 to 2007. The car Stanley
[9] won this competition in 2005, but since that time many
products in the field of autonomous driving have entered the
market.
Autonomous control is an important new subfield in
the automotive sector as commercial autopilots and driver
assistance systems become more and more popular.
To classify the different levels of system functionality and
compare actual driverless cars, the Society of Automotive
Engineers has introduced a classification scheme5.
Many commercially available software products fall into
classes 0-2, thus only observing driver environment and
taking on only limited driving tasks. The rare cases of actual
automated driving systems in classes 3-5 can be found in
GoogleAutonomousCarsorTeslaAutopilots.Googlemakes
heavy use of a multi-beam 3D-laser scanner to understand
the entire environment. It also solves problems related to
the traffic behaviour of human drivers and it is integrated
into external maps and weather services. Tesla uses radar
and sonar, in some cases mounted behind the vehicle’s outer
structure, to detect individual classes of obstacles, e.g. with
radar: moving obstacles; or, with ultrasonic sensors: other
cars beside the vehicle. [1] [5]
Nvidia presented an autonomous control solution where
the system was taught to drive exclusively by RGB camera
input [2].MachineLearningwasused tomatchsteering input
with camera images, so the vehicle steers based on scenes
recognised in the camera view. Nevertheless, the driver has
to control the throttle.
Anexampleofa frameworkforautonomousdriving ispro-
vided by Nvidia DriveWorks. It provides interface layers that
allow easy incorporation of new sensors, execute machine
vision algorithms and even perform trajectory planning. Ad-
vantages are its range of out-of-the-box detection algorithms
and the heavy use of graphics-accelerating hardware with
perception computation times of within a few milliseconds.
An apparent disadvantage is that only Nvidia hardware can
be used. Another drawback is that the architecture lacks an
actuator control component.
The approaches and frameworks in Google’s, Tesla’s and
Nvidia’s applications solve a variety of problems associated
with driverless cars in traffic that are not relevant to the FSD
competition. Accidents, recognising people, lane markings,
sidewalks or traffic signs do not have to be handled at all in
the FSD. There are no intersections where maneuvers have to
benegotiatedwithothercars; for that fact, therenoothercars
on the track at all. This year, TUW Racing’s main goal is to
design a solid base system as an ideal start for improvements
and qualitative increments in upcoming years.
3Freescale Cup: https://community.nxp.com/docs/DOC-1011
4Crazy Car: https://fh-joanneum.at/projekt/crazycar/
5 SAEReport:https://www.sae.org/misc/pdfs/automated driving.pdf Therefore our solution is based on open-source compo-
nents. Due to the fact that TUW Racing initiated the project
with experts in mobile robotics, the commonly used Robot
Operating System ROS[7] is used for modularisation and
communication.
ROS enables TUW Racing to interface the required com-
ponents of the system, from camera to motor control. There-
fore, for speedy development, the team selected hardware
devices with drivers already available.
In the next section, the hardware and the software frame-
works used will be described.
III. THE RACE CAR
In this section, the competition, the race car’s hardware,
as well as the software implemented are described in detail.
A. Competition
The dynamic component of the race has three challenges:
an acceleration race, a skid pad and a track drive. The
acceleration race is a 75m-long straight track followed by
a 100m straight exit lane. The skid pad track consists of
two congruent circles, touching externally, with a diameter
of 18.25m. The vehicle enters on the tangent of the circles
at their contact point, drives the right circle twice followed
by the left twice before leaving via the tangent again. The
track drive is a closed loop circuit with an unknown layout
consisting of up to 80 m straights, up to 50 m diameter
constant turns, and hairpin turns with a 9 m diameter, among
other miscellaneous features such as chicanes, or multiple
turns. The vehicle must recognise and drive exactly ten laps
withamaximumdistanceof500meach.The track ismarked
by blue and white striped traffic cones on the car’s left edge
and yellow and black striped cones on its right edge. The
cones are connected via a high-contrast colored line sprayed
onto the road; however, the line may extend out to the side.
Additionally, the stop zones on the acceleration and skid
pads are marked using orange and white striped cones. The
distance from one cone to another along either edge of the
track is up to 5 m, and the minimum track width is 5 m,
except on the skid pad, where the width is 3 m. The traffic
cone layout is predefined in the rules.
B. Hardware
The total power allowed for formula student cars with any
kind of powertrain is 80kW, and for electric powertrains a
maximum voltage of 600V at any time is allowed. The other
major limitation is the wheelbase of at least 1525mm. Aside
from those stipulations, students are free to design their cars’
characteristics as they wish.
Both rear wheel hub motors of the TUW Racing car have
a maximum torque of 30 Nm at a weight of 3.6kg and
a gear transmission ratio of 12:1. The total weight of the
car is 160.5kg with a top speed of 30.5m/s, accelerating in
3.1 seconds to 27.8m/s. Fig. 2 shows a rough sketch of the
vehicle with sensors.
52
Proceedings of the OAGM&ARW Joint Workshop
Vision, Automation and Robotics
- Titel
- Proceedings of the OAGM&ARW Joint Workshop
- Untertitel
- Vision, Automation and Robotics
- Autoren
- Peter M. Roth
- Markus Vincze
- Wilfried Kubinger
- Andreas MĂĽller
- Bernhard Blaschitz
- Svorad Stolc
- Verlag
- Verlag der Technischen Universität Graz
- Ort
- Wien
- Datum
- 2017
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-524-9
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 188
- Schlagwörter
- Tagungsband
- Kategorien
- International
- Tagungsbände