Autonomous Driving at FSG

Alexander Isenko

03.01.2019

1

USA, Michigan 1981

Germany, Hockenheim 2017

Competition between universities

High-Tech automotive sponsors

Formula Student

2

Formula Student Germany 2018

3650 Students

from all over the world

59 Combustion Teams

40 Electrical Teams

17 Driverless Teams

3

Statics

Business Plan: 75 points

Cost Report:

100 points

Engineering Design:

325 points

4

Dynamic Event - Acceleration

Straight track length: 75m

75 points

5

Dynamic Event - Skid Pad

75 points

6

Dynamic Event - Track Drive

350 points

7

Club @ UAS Munich

Combustion

Since 2006

Electrical

Since 2010

Driverless

Since 2017

Interdisciplinary team of 100+ students from UAS Munich & LMU

8

PWe8.17 / PWd2.18

FSAustria

2017

Business Plan

FSAustria

2017

Acceleration

FSGermany

2017

Gesamt

#3

#1

#1

FSItaly

2018

FSGermany

2018

Acceleration

FSGermany

2018

Gesamt

#5

#2

#2

Gesamt

Acceleration 0-100km/h: 2.1s

9

Sponsors

10

Architecture

11

Sensoric Overview

12

Autonomous Pipeline

CLARA

Cone-based Localization for Autonomous Racing Applications

13

SLAM Requirements

  • O(1) space time complexity
  • At least 100Hz frequency
  • +/- 15cm error per lap
  • Reuse objects for visual odometry
  • Reusable API for different object sensors (Lidar / Stereo Camera)
  • Concise logging + Interface for Python

Hard Requirements

Soft Requirements

14

SLAM Problem

15

Mapping with Specialized Gaussian Mixture Model

16

Mapping with Specialized Gaussian Mixture Model

17

Localization with Extended Kalman Filter

18

Localization with Extended Kalman Filter

19

Visual Odometry

20

Questions

21

Backup - Data Association

22

Backup - Localization

23

Backup - Localization

24

Backup - Visualization