[自动驾驶系列一]Introduction to Self-Driving Cars

Introduction to Self-Driving Cars

• Module 1: The Requirements for Autonomy
• • Lesson 1: Taxonomy of Driving（驾驶分类）
  • Lesson 2: Requirements for Perception
  • Lesson 3: Driving Decisions and Actions
  • Advice for Breaking into the Self-Driving Cars Industry
• Module 2: Self-Driving Hardware and Software Architectures
• • Lesson 1: Sensors and Computing Hardware
  • Lesson 2: Hardware Configuration Design
  • Lesson 3: Software Architecture
  • Lesson 4: Environment Representation
  • The Future of Autonomous Vehicles
• Module 3: Safety Assurance for Autonomous Vehicles
• • Lesson 1: Safety Assurance for Self-Driving Vehicles
  • Lesson 2: Industry Methods for Safety Assurance and Testing
  • Lesson 3: Safety Frameworks for Self-Driving
  • An Impossible Task?
  • Can the AV Industry Collaborate on Safety?
  • Paul Newman on the Trolley Problem
  • How Companies Approach Autonomous Vehicle Safety
• Module 4: Vehicle Dynamic Modeling
• • Lesson 1: Kinematic Modeling in 2D
  • Lesson 2: The Kinematic Bicycle Model
  • Lesson 3: Dynamic Modeling in 2D
  • Lesson 4: Longitudinal Vehicle Modeling
  • Lesson 5: Lateral Dynamics of Bicycle Model
  • Lesson 6: Vehicle Actuation
  • Lesson 7: Tire Slip and Modeling
  • Challenges for the Industry
• Module 5: Vehicle Longitudinal Control
• • Lesson 1: Proportional-Integral-Derivative (PID) Control
  • Lesson 2: Longitudinal Speed Control with PID
  • Lesson 3: Feedforward Speed Control
  • Zoox's Approach to Self-Driving Cars
• Module 6: Vehicle Lateral Control
• • Lesson 1: Introduction to Lateral Vehicle Control
  • Lesson 2: Geometric Lateral Control - Pure Pursuit
  • Lesson 3: Geometric Lateral Control - Stanley
  • Lesson 4: Advanced Steering Control - MPC
  • Module 7: Putting it all together
  • Lesson 1: Carla Overview - Self-Driving Car Simulation
  • Lesson 2: Final Project Overview
  • Final Project Solution

Module 1: The Requirements for Autonomy

Lesson 1: Taxonomy of Driving（驾驶分类）

• ODD：设计运行范围，自动驾驶系统被设计的起作用的条件及适用范围，把我们知道的天气环境、道路情况（直路、弯路的半径）、车速、车流量等信息作出测定，以确保系统的能力在安全的环境之内

• Lateral control： 横向控制，左右转，直行或沿曲线行驶
• Longitudinal control: 纵向控制，刹车加速控制汽车的位置或速度
• Object and Event Detection and Response(OEDR):感知和判断，对车辆纵向运动方向操作、通过对物体和事件检测、认知归类和后续响应，达到对车辆周围环境的监测和执行对应操作、车辆运动的计划还有对外信息的传递
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Lesson 2: Requirements for Perception

Lesson 3: Driving Decisions and Actions

Advice for Breaking into the Self-Driving Cars Industry

Module 2: Self-Driving Hardware and Software Architectures

Lesson 1: Sensors and Computing Hardware

Lesson 2: Hardware Configuration Design

Lesson 3: Software Architecture

Lesson 4: Environment Representation

The Future of Autonomous Vehicles

Module 3: Safety Assurance for Autonomous Vehicles

Lesson 1: Safety Assurance for Self-Driving Vehicles

Lesson 2: Industry Methods for Safety Assurance and Testing

Lesson 3: Safety Frameworks for Self-Driving

An Impossible Task?

Can the AV Industry Collaborate on Safety?

Paul Newman on the Trolley Problem

How Companies Approach Autonomous Vehicle Safety

Module 4: Vehicle Dynamic Modeling

Lesson 1: Kinematic Modeling in 2D

Lesson 2: The Kinematic Bicycle Model

Lesson 3: Dynamic Modeling in 2D

Lesson 4: Longitudinal Vehicle Modeling

Lesson 5: Lateral Dynamics of Bicycle Model

Lesson 6: Vehicle Actuation

Lesson 7: Tire Slip and Modeling

Challenges for the Industry

Module 5: Vehicle Longitudinal Control

Lesson 1: Proportional-Integral-Derivative (PID) Control

Lesson 2: Longitudinal Speed Control with PID

Lesson 3: Feedforward Speed Control

Zoox’s Approach to Self-Driving Cars

Module 6: Vehicle Lateral Control

Lesson 1: Introduction to Lateral Vehicle Control

Lesson 2: Geometric Lateral Control - Pure Pursuit

Lesson 3: Geometric Lateral Control - Stanley

Lesson 4: Advanced Steering Control - MPC

Module 7: Putting it all together

Lesson 1: Carla Overview - Self-Driving Car Simulation

Lesson 2: Final Project Overview

Final Project Solution