This paper discusses the architecture of the self-driving car and its software components that include localization, detection, motion planning and mission planning. We also highlight the hardware modules that are responsible for controlling the car.
Key Points
Questions being asked repeatedly for autonomous vehicles. Where Am I(Localization), What’s around me(Detection/perception), What will happen next(Predictions about the environment), What should I do(decision making).
Localization is the ability of an autonomous vehicle to locate itself in the 3D world using Normal Distribution Transform(NDT) .
Object detection is accurately getting distances and behaviors of the objects(vehicles, humans, animals etc.) near the car.
Obstacle avoidance is taking input from object detection and using an algorithm(such as A*) to find a path around it.
Title
Autonomous Vehicle: The Architecture Aspect of Self Driving Car
URL
https://dl.acm.org/doi/pdf/10.1145/3290589.3290599
Summary
This paper discusses the architecture of the self-driving car and its software components that include localization, detection, motion planning and mission planning. We also highlight the hardware modules that are responsible for controlling the car.
Key Points
Questions being asked repeatedly for autonomous vehicles. Where Am I(Localization), What’s around me(Detection/perception), What will happen next(Predictions about the environment), What should I do(decision making).
Localization is the ability of an autonomous vehicle to locate itself in the 3D world using Normal Distribution Transform(NDT) .
Object detection is accurately getting distances and behaviors of the objects(vehicles, humans, animals etc.) near the car.
Obstacle avoidance is taking input from object detection and using an algorithm(such as A*) to find a path around it.
Path Planning
Citation
Repo link