Home

Automated and Connected Driving Challenges - Wiki

This programming lab provides students the possibility to develop and test an automated driving function step by step. The lab provides insights into the prototypical development of an automated vehicle. The software modules are implemented in the so-called Robot Operating System (ROS). Students learn how automated vehicles process sensor data, how they compute an environment model and how they plan and follow trajectories.

Contents

• Communication
• FAQ
• Installations
• Additional pages
• ACDC ROS Exercises
  • Section 1: Introduction & Robot Operating System
  • Section 2: Sensor Data Processing
  • Section 3: Object Fusion and Tracking
  • Section 4: Vehicle Guidance
  • Section 5: Connected Driving
• References

Communication

• Technical questions should be posted as an Issue
• Theoretical questions should be posted in the edX discussions directly below the respective unit

FAQ

Have a look at this page which is collection of common questions.

Installations

• Setup OS
• Setup ROS Coding Environment
• Setup JupyterLab Coding Environment

Additional pages

• Useful tools and documentation

ACDC ROS Exercises

Section 1: Introduction & Robot Operating System

• Exercise - ROS Setup
• Exercise - ROS Foundations
• Exercise - ROS GUI Tools
• Exercise - ROS Nodes in C++
• Exercise - ROS Bags
• Exercise - ROS Application
• Exercise - ROS Outlook
• Challenge - Lap Time

Section 2: Sensor Data Processing

• Exercise - Semantic Image Segmentation
• Exercise - Point Cloud Segmentation
• Exercise - Object Detection
• Exercise - Geometric Point Cloud Occupancy Grid Mapping
• Exercise - Deep Learning-based Point Cloud Occupancy Grid Mapping
• Exercise - Camera-based Semantic Grid Mapping

Section 3: Object Fusion and Tracking

• Exercise - Object Prediction
• Exercise - Object Association
• Exercise - Object Fusion

Section 4: Vehicle Guidance

• Exercise - Trajectory Planning
• Exercise - Trajectory Control

Section 5: Connected Driving

• Exercise - Cloud-based Object Fusion
• Exercise - SPaT Processing

References

Used software packages in the acdc repository and their license

• BLASFEO - BLAS For Embedded Optimization

  BLASFEO -- BLAS For Embedded Optimization.
  Copyright (C) 2019 by Gianluca Frison.
  Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.
  All rights reserved.
  
  The 2-Clause BSD License
  

• High-performance interior-point-method QP solvers

  HPIPM -- High-Performance Interior Point Method.
  Copyright (C) 2019 by Gianluca Frison.
  Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.
  All rights reserved.
  
  The 2-Clause BSD License
  

• CppAD: A Package for Differentiation of C++ Algorithms

  CppAD: C++ Algorithmic Differentiation: Copyright (C) 2003-18 Bradley M. Bell
  
  CppAD is distributed under the terms of the Eclipse Public License Version 2.0.
  
  This Source Code may also be made available under the following
  Secondary License when the conditions for such availability set forth
  in the Eclipse Public License, Version 2.0 are satisfied:
  GNU General Public License, Version 2.0 or later.
  

• CppADCodeGen

  CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
    Copyright (C) 2018 Joao Leal
    Copyright (C) 2012 Ciengis
  
  CppADCodeGen is distributed under multiple licenses:
  
   - Eclipse Public License Version 1.0 (EPL1), and
   - GNU General Public License Version 3 (GPL3).
  
  EPL1 terms and conditions can be found in the file epl-v10.txt, while
  terms and conditions for the GPL3 can be found in the file gpl3.txt.
  

• Flatland

  BSD 3-Clause License
  Copyright (c) 2017, Avidbots Corp.
  All rights reserved.
  
  Flatland uses a number of open source libraries that it includes in its source tree:
  
      ThreadPool Copyright (c) 2012 Jakob Progsch, Václav Zeman (zlib license)
      Tweeny Copyright (c) 2016 Leonardo Guilherme de Freitas (MIT license)
      Box2d Copyright (c) 2006-2017 Erin Catto http://www.box2d.org (zlib license)
  

• ROS

  BSD 3-Clause License
  All rights reserved.