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
