Self-Driving Car Autonomous System Overview - Industrial Electronics Engineering - Bachelors’ Thesis - Author: Daniel Casado Herráez Thesis Director: Javier Díaz Dorronsoro, PhD Thesis Supervisor: Andoni Medina, MSc San Sebastián - Donostia, June 2020 Self-Driving Car Autonomous System Overview Daniel Casado Herráez "When something is important enough, you do it even if the odds are not in your favor." - Elon Musk - 2 Self-Driving Car Autonomous System Overview Daniel Casado Herráez To my Grandfather, Family, Friends & to my supervisor Javier Díaz 3 Self-Driving Car Autonomous System Overview Daniel Casado Herráez 1. Contents 1.1. Index 1. Contents ..................................................................................................................................................... 4 1.1. Index.................................................................................................................................................. 4 1.2. Figures ............................................................................................................................................... 6 1.1. Tables ................................................................................................................................................ 7 1.2. Algorithms ........................................................................................................................................ 7 2. Abstract ...................................................................................................................................................... 8 3. Introduction .............................................................................................................................................. 9 3.1. Motivation ........................................................................................................................................ 9 3.2. Objectives and Scope ................................................................................................................... 10 3.3. Introduction to Autonomous Vehicles ...................................................................................... 11 4. Project timeline and Gantt chart .......................................................................................................... 13 5. Sensing ..................................................................................................................................................... 14 5.1. LIDAR ............................................................................................................................................ 14 5.1.1. LIDAR sensor ...................................................................................................................... 14 5.1.2. Point clouds .......................................................................................................................... 15 5.1.3. Ground plane and noise removal ...................................................................................... 17 5.1.4. Iterative Closest Point (ICP) .............................................................................................. 17 5.2. Camera ............................................................................................................................................ 20 5.2.1. Stereo Vision ......................................................................................................................... 21 5.3. Radar ............................................................................................................................................... 28 5.4. GPS/GNSS .................................................................................................................................... 29 5.5. IMU ................................................................................................................................................. 31 5.6. Odometry sensors ......................................................................................................................... 32 5.7. Sensor Fusion................................................................................................................................. 33 6. Perception ................................................................................................................................................ 34 6.1. Lane Detection .............................................................................................................................. 34 6.2. Object detection ............................................................................................................................ 37 6.2.1. Classical Object Detection.................................................................................................. 37 6.2.2. Modern Object Detection: Convolutional Neural Networks ....................................... 40 6.3. SLAM (Simultaneous Localization and Mapping) ................................................................... 60 7. Control ..................................................................................................................................................... 61 7.1. Car Model ....................................................................................................................................... 61 7.1.1. Car-like model ...................................................................................................................... 62 4 Self-Driving Car Autonomous System Overview Daniel Casado Herráez 7.1.2. Bicycle model ........................................................................................................................ 63 7.1.3. Geometric vehicle model .................................................................................................... 64 7.1.4. Kinematic model .................................................................................................................. 64 7.1.5. Dynamic model .................................................................................................................... 64 7.1.6. Frequency domain................................................................................................................ 65 7.2. Path Planning ................................................................................................................................. 66 7.2.1. Motion planning ................................................................................................................... 68 7.2.2. Motion planning algorithms ............................................................................................... 71 7.3. Motion Control .............................................................................................................................. 87 7.3.1. Optimization based control ................................................................................................ 88 7.3.2. Proportional Integral Derivative Controller (PID)......................................................... 94 8. Formula Student Vehicles Overview .................................................................................................. 98 8.1. AMZ ................................................................................................................................................ 99 8.1.1. Sensing ................................................................................................................................... 99 8.1.2. Perception ............................................................................................................................. 99 8.1.3. Control .................................................................................................................................100 8.2. Beijing Institute of Technology ................................................................................................100 8.2.1. Sensing .................................................................................................................................100 8.2.2. Perception ...........................................................................................................................100 8.2.3. Control .................................................................................................................................100 8.3. TUW Racing.................................................................................................................................102 8.3.1. Sensing .................................................................................................................................102 8.3.2. Perception ...........................................................................................................................102 8.3.3. Control .................................................................................................................................102 8.4. University of Western Australia Formula SAE ......................................................................103 8.4.1. Sensing, Perception and Control .....................................................................................103 9. Conclusion .............................................................................................................................................104 10. APPENDIXES ................................................................................................................................105