Engineering Autonomous Vehicles and Robots. Shaoshan Liu

      

      Table of Contents

      1  Cover

      2  1 Affordable and Reliable Autonomous Driving Through Modular Design 1.1 Introduction 1.2 High Cost of Autonomous Driving Technologies 1.3 Achieving Affordability and Reliability 1.4 Modular Design 1.5 The Rest of the Book 1.6 Open Source Projects Used in this Book References

      3  2 In-Vehicle Communication Systems 2.1 Introduction 2.2 CAN 2.3 FlexRay 2.4 CANopen References

      4  3 Chassis Technologies for Autonomous Robots and Vehicles 3.1 Introduction 3.2 Throttle-by-Wire 3.3 Brake-by-Wire 3.4 Steer-by-Wire 3.5 Open Source Car Control 3.6 OpenCaret 3.7 PerceptIn Chassis Software Adaptation Layer References

      5  4 Passive Perception with Sonar and Millimeter Wave Radar 4.1 Introduction 4.2 The Fundamentals of mmWave Radar 4.3 mmWave Radar Deployment 4.4 Sonar Deployment References

      6  5 Localization with Real-Time Kinematic Global Navigation Satellite System 5.1 Introduction 5.2 GNSS Technology Overview 5.3 RTK GNSS 5.4 RTK-GNSS NtripCaster Setup Steps 5.5 Setting Up NtripServer and NtripClient on Raspberry Pi 5.6 Setting Up a Base Station and a GNSS Rover 5.7 FreeWave Radio Basic Configuration References

      7  6 Computer Vision for Perception and Localization 6.1 Introduction 6.2 Building Computer Vision Hardware 6.3 Calibration 6.4 Localization with Computer Vision 6.5 Perception with Computer Vision 6.6 The DragonFly Computer Vision Module References

      8  7 Planning and Control 7.1 Introduction 7.2 Route Planning 7.3 Behavioral Planning 7.4 Motion Planning 7.5 Feedback Control 7.6 Iterative EM Plannning System in Apollo 7.7 PerceptIn's Planning and Control Framework References

      9  8 Mapping 8.1 Introduction 8.2 Digital Maps 8.3 High-Definition Maps 8.4 PerceptIn's π-Map References

      10  9 Building the DragonFly Pod and Bus 9.1 Introduction 9.2 Chassis Hardware Specifications 9.3 Sensor Configurations 9.4 Software Architecture 9.5 Mechanism 9.6 Data Structures 9.7 User Interface References

      11  10 Enabling Commercial Autonomous Space Robotic Explorers 10.1 Introduction 10.2 Destination Mars 10.3 Mars Explorer Autonomy 10.4 Challenge: Onboard Computing Capability 10.5 Conclusion References

      12  11 Edge Computing for Autonomous Vehicles 11.1 Introduction 11.2