The deeva autonomous vehicle platform

Author

Broggi, Alberto ; Debattisti, Stefano ; Grisleri, Paolo ; Panciroli, Matteo

Author_Institution

Dept. of Inf. Eng., Univ. degli Studi di Parma, Parma, Italy

fYear

2015

fDate

June 28 2015-July 1 2015

Firstpage

692

Lastpage

699

Abstract

This paper presents the design, the setup, and the architecture of a new class of autonomous vehicles prototype. The car is equipped with 26 cameras, divided into 13 stereo pairs. Four stereo systems are dedicated to the reconstruction of the near area surrounding the vehicle, other nine are dedicated to the 3D reconstruction of the far driving area. Additionally four laserscanners, and a high performance GPS/IMU unit provide more information on the ground truth to measure the validity of the data obtained with vision. The autonomous driving system, the perception system, and the processing system have been installed in the vehicle taking extra care for an as-clean-as-possible integration with te aim of setting a new state of the art level for this kind of setup. A Human Machine Interface, allows the driver to control all the functions of the systems using a touch screen. A high precision synchronization system coupled with a custom software architecture allows to obtain recordings from all sensors installed.

Keywords

Global Positioning System; automobiles; control engineering computing; image reconstruction; image sensors; inertial systems; software architecture; stereo image processing; synchronisation; touch sensitive screens; traffic engineering computing; 3D reconstruction; Deeva autonomous vehicle platform; as-clean-as-possible integration; autonomous driving system; autonomous vehicles prototype; cameras; car; custom software architecture; high performance GPS-IMU unit; high precision synchronization system; human machine interface; perception system; stereo pairs; stereo systems; touch screen; Batteries; Cameras; Global Positioning System; Sensor systems; Three-dimensional displays; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2015 IEEE

Conference_Location

Seoul

Type

conf

DOI

10.1109/IVS.2015.7225765

Filename

7225765