Selfie is the student project of autonomous cars. Vehicles based on 1:10 scale RC cars are customized to be able to operate autonomously in simulated road environments. They are equipped with camera, computer vision computing unit, controller and set of sensors like magnetic encoders, distance sensors and IMU.
This file contains only basic informations, more details will hopefully occur as Wiki in finite time :)
Software released as version 1.0 in first ready-to-go robot Selfie. It was prepared specifically for Carolo-Cup 2018 competition. It is fullfilling all the competition requirements, so basically it is able to perform:
- road lane tracking,
- collision avoiding,
- overtaking maneuver
- parallel parking
- intersection handling
- proper light signalization
Computer Vision application designed to run on NVidia Jetson / Odroid platform.
Vehicle controller application for FreeRTOS (Real-Time Operating System). Aplication is designed to run on STM32F7 (AnyFC F7 board).
Software released as version 2.0 was onboarded in the brand new vehicle built for International Autonomous Robot Racing Competition (IARRC) 2018 in Waterloo, Canada. Selfie won first prize outperforming in both Drag and Circut Races. The vehicle was able to reach the speed of 12 m/s in stable Drag Race. Picture presents the car in development (without bodywork).
The IARRC competiton consists of project presentation part (written report, video, oral presentation) and racing part. Racing events are running outdoors. Track is marked with white and yellow lines and cones. In Drag Race cars are competing on 60 meters of straight track. In Curcuit Race cars have to drive about 1000 meters (3 laps of about 330 meters).
The main challenges to overcome were start up light detection, high-speed line detection and trajectory corrections, collision avoidance and varying lumininance conditions (areas covered with sun light or fully or partially shadowed).
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Fork this repo to your account.
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Clone repo from your account to local folder on your device.
git clone https://github.com/your-login/Selfie-autonomous-car -
Add new remote repo as "main".
git remote add main https://github.com/perciax/Selfie-autonomous-car
Now you should have 2 remote repos configured:
- "main" pointing this repo,
- "origin" pointing copy on you account. This could be checked by command git remote -v.
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Update your local verison.
git pull main master -
Make your changes.
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Push them to repo on you account.
git push origin master -
Make Pull Request on Github.
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Repeat steps from 4 to 7 everytime you want to contribute to this "main" repo.