Table of Contents 1
Cover
2
1 Affordable and Reliable Autonomous Driving Through Modular Design
1.1 Introduction
1.2 High Cost of Autonomous Driving Technologies
1.3 Achieving Affordability and Reliability
1.4 Modular Design
1.5 The Rest of the Book
1.6 Open Source Projects Used in this Book
References
3
2 In-Vehicle Communication Systems
2.1 Introduction
2.2 CAN
2.3 FlexRay
2.4 CANopen
References
4
3 Chassis Technologies for Autonomous Robots and Vehicles
3.1 Introduction
3.2 Throttle-by-Wire
3.3 Brake-by-Wire
3.4 Steer-by-Wire
3.5 Open Source Car Control
3.6 OpenCaret
3.7 PerceptIn Chassis Software Adaptation Layer
References
5
4 Passive Perception with Sonar and Millimeter Wave Radar
4.1 Introduction
4.2 The Fundamentals of mmWave Radar
4.3 mmWave Radar Deployment
4.4 Sonar Deployment
References
6
5 Localization with Real-Time Kinematic Global Navigation Satellite System
5.1 Introduction
5.2 GNSS Technology Overview
5.3 RTK GNSS
5.4 RTK-GNSS NtripCaster Setup Steps
5.5 Setting Up NtripServer and NtripClient on Raspberry Pi
5.6 Setting Up a Base Station and a GNSS Rover
5.7 FreeWave Radio Basic Configuration
References
7
6 Computer Vision for Perception and Localization
6.1 Introduction
6.2 Building Computer Vision Hardware
6.3 Calibration
6.4 Localization with Computer Vision
6.5 Perception with Computer Vision
6.6 The DragonFly Computer Vision Module
References
8
7 Planning and Control
7.1 Introduction
7.2 Route Planning
7.3 Behavioral Planning
7.4 Motion Planning
7.5 Feedback Control
7.6 Iterative EM Plannning System in Apollo
7.7 PerceptIn's Planning and Control Framework
References
9
8 Mapping
8.1 Introduction
8.2 Digital Maps
8.3 High-Definition Maps
8.4 PerceptIn's π-Map
References
10
9 Building the DragonFly Pod and Bus
9.1 Introduction
9.2 Chassis Hardware Specifications
9.3 Sensor Configurations
9.4 Software Architecture
9.5 Mechanism
9.6 Data Structures
9.7 User Interface
References
11
10 Enabling Commercial Autonomous Space Robotic Explorers
10.1 Introduction
10.2 Destination Mars
10.3 Mars Explorer Autonomy
10.4 Challenge: Onboard Computing Capability
10.5 Conclusion
References
12
11 Edge Computing for Autonomous Vehicles
11.1 Introduction
11.2
