Autonomous Driving (in2356) an der TU München | Karteikarten & Zusammenfassungen

Lernmaterialien für autonomous driving (in2356) an der TU München

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Which levels of autonomous driving exist?

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  • Driver Support Features (driver must be constantly engaged):
    • Level 0 (automatic emergency breaking, blind spot warning, lane departure warning)
    • Level 1 (lane centering OR adaptive cruise control)
    • Level 2 (lane centering AND adaptive cruise control)
  • Automated driving features (you are not driving)
    • Level 3: traffic jam chaffeur
    • Level 4: local driverless taxi, pedals/steering wheel may or may not be installed
    • Level 5: can drive anywhere in all conditions
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What does the HMI management module do?

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  • provides abstraction for amount of display options (dashboards, head-up display, augmented reality, etc.)
  • is especially necessary when autonomous vehicle gives control back to human and needs to tell human as quickly as possible what the current situation is
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What does the safety management module do?

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  • two key functions
    • performs plausibility check on data transferred between functional modules
    • collects plausibility check results and derives strategy guided by safety and error handling
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Why are individual functions being separated in AD architectures?

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It's cheaper, more scalable, testable on per function basis

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What geographic coordinate systems does Robinos refer to?

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- Universal Transverse Mercator (lat, lon, alt)
- World Geodetic System 1984 / WGS84 (x, y, z and Zone ID)

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What is the local coordinate system?

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- An arbitrarily set cartesian coordinate system. Origin for relative movements of vehicle and other parts in environment model
- can also be described by GCS in order to link car movements globally

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What do geographic coordinates describe?

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a position on the earth's surface

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What is the construction coordinate system?

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- It's the base that describes all parts of the car
- needed for calibrating sensors

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What is the vehicle coordinate system?

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- used to describe environment of car w.r.t. itself
- origin is located on road surface close to middle of rear axis
- x-axis in direction of motion
- z-axis towards sky

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What is the sensor coordinate system?

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- each sensor has own coordinate system
- if sensors are calibrated (i.e. extrinsic  parameters are know - i.e. detected object positions w.r.t. to sensors), objects positions can be transformed into other co-sy's

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What is the anchor coordinate system?

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- discrete cartesion coordinate system to origin of grid
- arbitrarily set to either georeferenced or locally referenced coordinate system

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What is the local area?

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A square area around local coordinate system that covers area of interest for car (size is defined by max distance to center which is used to build surface of area)

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Q:

Which levels of autonomous driving exist?

A:
  • Driver Support Features (driver must be constantly engaged):
    • Level 0 (automatic emergency breaking, blind spot warning, lane departure warning)
    • Level 1 (lane centering OR adaptive cruise control)
    • Level 2 (lane centering AND adaptive cruise control)
  • Automated driving features (you are not driving)
    • Level 3: traffic jam chaffeur
    • Level 4: local driverless taxi, pedals/steering wheel may or may not be installed
    • Level 5: can drive anywhere in all conditions
Q:

What does the HMI management module do?

A:
  • provides abstraction for amount of display options (dashboards, head-up display, augmented reality, etc.)
  • is especially necessary when autonomous vehicle gives control back to human and needs to tell human as quickly as possible what the current situation is
Q:

What does the safety management module do?

A:
  • two key functions
    • performs plausibility check on data transferred between functional modules
    • collects plausibility check results and derives strategy guided by safety and error handling
Q:

Why are individual functions being separated in AD architectures?

A:

It's cheaper, more scalable, testable on per function basis

Q:

What geographic coordinate systems does Robinos refer to?

A:

- Universal Transverse Mercator (lat, lon, alt)
- World Geodetic System 1984 / WGS84 (x, y, z and Zone ID)

Mehr Karteikarten anzeigen
Q:

What is the local coordinate system?

A:

- An arbitrarily set cartesian coordinate system. Origin for relative movements of vehicle and other parts in environment model
- can also be described by GCS in order to link car movements globally

Q:

What do geographic coordinates describe?

A:

a position on the earth's surface

Q:

What is the construction coordinate system?

A:

- It's the base that describes all parts of the car
- needed for calibrating sensors

Q:

What is the vehicle coordinate system?

A:

- used to describe environment of car w.r.t. itself
- origin is located on road surface close to middle of rear axis
- x-axis in direction of motion
- z-axis towards sky

Q:

What is the sensor coordinate system?

A:

- each sensor has own coordinate system
- if sensors are calibrated (i.e. extrinsic  parameters are know - i.e. detected object positions w.r.t. to sensors), objects positions can be transformed into other co-sy's

Q:

What is the anchor coordinate system?

A:

- discrete cartesion coordinate system to origin of grid
- arbitrarily set to either georeferenced or locally referenced coordinate system

Q:

What is the local area?

A:

A square area around local coordinate system that covers area of interest for car (size is defined by max distance to center which is used to build surface of area)

autonomous driving (in2356)

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