[TOC]

Overview

• the note is from Apollo Self-Driving Car Lesson

Self-Driving Overview

• why need self-driving car
  

• 5 driving levels
  

• self-driving car history

• how self-driving car work
  

• hardware
  

• Open Sofware Stack
  • RTOS: Ubuntu + Apollo Kernel
  • ROS
  • Decentralization: No ROS Master Scheme
  • Protobuf
• Cloud Services
  • HD Map
  • Simulation
  • Data Platform
  • Security
  • OTA(Over-The-Air) updatea
  • DuerOS

High-Definition Map

• 3d representation of the road
• centimeter-level precision
• localization: data match

• OpenDRIVE standard

• HD map construction
  

• HD map crowdsourcing
  

Localization

• need 10 centi-meter accuracy, but GPS error 1-3 meter

• localization
  

• GNSS RTK
  

• Inertial Navigation
  • accelerator
  • gyroscope
• LiDAR localization
  • ICP
  • filter: Histogram
  • advantage: robust
• visual localization
  • match
• multi-sensor fusion: kalman filter: prediction(Inertial) and update(GNSS LiDAR)
  

Perception

• perception overview
  

• classification pipeline
  

• Camera images

• LiDAR images

• Machine Learning
  • born in 1960s
  • supervised learning
  • unsupervised learning

• Neural Network

• Backpropagation

• Convolutional Neural Network

• Detection and Classification

• Tracking

• Segmentation
  

• Sensor Data Comparision
  

• Perception Fusion

Prediction

• realtime & accuracy

• approaches: model-based & data-driven
  

• Trajectory Generation
  • polynomial model

Planning

• goal: find the best path from A to B on the map

• input: map, our position and destination

• World to Graph

• A star algorithm

• 3D trajectory
  

• Evaluating a Trajectory
  

• Frenet Coordinates

• Path-Velocity Decoupled Planning

Control

• steering, acceleration and brake
  

• PID

• LQR

• MPC