ADL Project
Autonomous Driving Lab has been founded together with Bolt to evaluate the state-of-the-art of self-driving technologies. As part of the project we want to compare open-source autonomous driving software stacks, in particular
In this course you will work as teams to get each software to work on our Lexus RX450h vehicle. The work will proceed in two stages:
- Get the software to work in the simulation environment of Tartu city centre, with the same sensors as our real car.
- Get the software to work on a real car, with real sensors. Initial testing will be done on a parking lot and if everything goes extremely well, we might also try on streets.
You can expect this to be a hazardous journey with endless nights of debugging. But if it eventually works, it all pays off!
Organization
For the first half of the semester there will be one lecture and one practice every week. For the lecture, you have to watch a video at home. During the class there will be a test on the video material and discussion of the correct answers afterwards.
The practices will be conducted in a computer class where we work with simulation. Each student will get a portable hard disk to boot classroom computers into Ubuntu. The same hard disk can be used for experimentation at home, although running both autonomy software and simulator on the same computer can be problematic for student laptops.
Second half of the semester will be spent on independent teamwork. The lecture will be replaced with a 2-hour slot for playing with the car, there will be a separate slot for each team. The practice time can still be used for testing things in simulation.
Deliverables
To earn 6 ECTS from this course each participant should:
- Get at least 60% of points from all tests.
- Demonstrate the respective software driving a Tartu demo lap in a simulator.
- Each team should write a tutorial on how to get the software to work with Tartu simulation and document their experiments with the real car in a report.
Schedule
| Date | Type | Description | Links |
|---|---|---|---|
| 2021-09-01 | Lecture 1 | Introduction of projects | (slides) |
| 2021-09-07 | Practice 1 | SVL simulator - Intro | (tutorial) |
| 2021-09-08 | Lecture 2 | Intro to self-driving | (video) |
| 2021-09-14 | Practice 2 | SVL simulator - Autonomy software | (Apollo) (Autoware.Auto) (Autoware.AI) |
| 2021-09-15 | Lecture 3 | Mapping | (video) (bonus video) |
| 2021-09-21 | Practice 3 | SVL simulator - Recording point cloud map | (Apollo) (Autoware.Auto) (Autoware.AI) |
| 2021-09-22 | Lecture 4 | Localization | (video) |
| 2021-09-28 | Practice 4 | SVL simulator - Localization against point cloud map | (Autoware.Auto) (Autoware.IV) |
| 2021-09-29 | Lecture 5 | Perception | (video) (bonus video) |
| 2021-10-05 | Practice 5 | SVL simulator - recording and following a trajectory | (Apollo) (Autoware.Auto) (Autoware.AI step 1) (Autoware.AI step 2) |
| 2021-10-06 | Lecture 6 | Prediction | (video) |
| 2021-10-12 | Practice 6 | SVL simulator - Tartu track and vehicle | (Autoware.AI) |
| 2021-10-13 | Lecture 7 | Planning | (video) |
| 2021-10-19 | Practice 7 | First date to to demonstrate car driving Tartu demo track in simulation | |
| 2021-10-20 | Lecture 8 | Control | (video) (bonus video) (bonus link) |
| 2021-10-26 | Practice 8 | Second date to to demonstrate car driving Tartu demo track in simulation | |
| 2021-10-27 | Lecture 9 | Visiting the garage | |
| 2021-11-01 | Submission deadline for the tutorial | ||
| 2021-11-02 | Practice 9 | Independent teamwork | |
| 2021-11-03 | Lecture 10 | Independent teamwork | |
| 2021-11-09 | Practice 10 | Independent teamwork | |
| 2021-11-10 | Lecture 11 | Independent teamwork | |
| 2021-11-16 | Practice 11 | Independent teamwork | |
| 2021-11-17 | Lecture 12 | Independent teamwork | |
| 2021-11-23 | Practice 12 | Independent teamwork | |
| 2021-11-24 | Lecture 13 | Independent teamwork | |
| 2021-11-30 | Practice 13 | Independent teamwork | |
| 2021-12-01 | Lecture 14 | Independent teamwork | |
| 2021-12-07 | Practice 14 | Independent teamwork | |
| 2021-12-08 | Lecture 15 | Independent teamwork | |
| 2021-12-14 | Practice 15 | Independent teamwork | |
| 2021-12-15 | Lecture 16 | Independent teamwork | |
| 2021-12-21 | Practice 16 | First date for the vehicle demo | |
| 2022-01-11 | Second date for the vehicle demo | ||
| 2022-01-31 | Submission deadline for the final report |
Helpful materials
- Apollo
- Autoware.Auto
- Autoware.AI
- TierIV Architecture Proposal
Contact
Autonomous Driving Lab (room 3095)
Tambet Matiisen
tambet.matiisen@ut.ee