Autonomous Driving

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Jongseo Lee edited this page Dec 17, 2023 · 4 revisions

Perception

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Camera Intrinsic Calibration

Rectification

Sensor Extrinsic Calibration

Cameras
Lidar
GPS, etc.

Sensor Fusion

Object Detection

Camera: YOLOv8
Lidar: Pointpillars, Clustering

Localization

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Multi-source EKF Fusion

GPS, LIDAR, Wheel Odom, IMU
- GPS: 1Hz
- LIDAR: 10Hz
- IMU: 100Hz
- Wheel Odom: 20Hz

NDT Matching

LIDAR Map Matching (No GPS)

Extended Kalman Filter

Update Rate: 20Hz

Planning

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Global

OSM, LaneLet2 based Global Path Routing and Management
- Dijkstra
- A*

Local

State Lattice Planner
Model Predictive Trajectory Based

Control

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Stanley Lateral Controller

PID Longitudinal Controller