"Driver" sounds as if it is still far away from us? It's hard to imagine that one day the "old driver" will disappear. But all this is getting closer and closer to us, driven by the giants of Google and Tesla.
In fact, the task of transforming the driverless car by hand has already been done by people who have a clear brain. you! and also! can! To!
But first come face!
Yes, you must have heard that in 2015, a 26-year-old boy named George Hotz claimed to use $1,000, 2000 lines of code, and six cameras were unmanned in his garage.
Of course, the inquiring detective has long discovered that he is the title party.
After careful study, his entire set of equipment is about 40,000 US dollars, and the code amount is far more than 2000 lines of code, and a large number of third-party libraries are called. He also only implements auxiliary driving such as lane keeping, pedestrian detection, collision warning, etc. in high-speed scenes. The function.
Hey!
In fact, there is nothing to envy, the transformation of the driverless car, the inspector will also. Moreover, today's inspector decided to openly study the results of many years of research, and he will do his best to teach and conserve the conscience of the industry!
First come to science, the unmanned system generally has three modules, um, the following should be focused.
1. Environment awareness module
Driverless cars use sensors to sense environmental information. For example, cameras, lidars, millimeter-wave radars, and industrial cameras are used to obtain environmental information; GPS and the like are used to obtain information on the state of the vehicle body. Of course, you need to extract useful information through the algorithm.
2. Behavioral decision module
Behavioral decision-making refers to the process in which driverless cars generate driving decisions that comply with traffic rules based on road network information, acquired traffic environment information, and their own driving status.
In a human voice, a precise driving trajectory is planned, and then the driverless car can follow this trajectory.
3. Motion Control Module
The motion control module generates control commands for the throttle, brake, steering wheel and shift lever based on the planned travel trajectory and speed as well as the current position, attitude and speed.
It looks very simple! ? So Easy!
Friendly Tip: If you don't want to continue to look down here, please skip to the last two paragraphs of the end of the text, and Crash Cheats are waiting for you (sweet smile)
Unmanned two factions: Google and Tesla who can laugh at the end
There are probably two major factions in the unmanned implementation path. One is a Google-based Internet company, and one is a car manufacturer headed by Tesla.
Google's blueprint is that the drone completely replaces people to drive, and the unmanned car is seen as a robot, so there is no steering wheel, throttle and brakes.
The top of the Google unmanned vehicle is a $80,000 64-line laser radar (Lidar). It emits a laser to measure the distance from surrounding objects at high speeds, and then draws a detailed 3D topographic map based on the distance data and models it with high-resolution map data to help the computer make decisions.
It can be seen that the key to this technical route is the simulation of the surrounding environment and 3D map data, and Google has a deep accumulation in this respect.
Tesla's plan is to evolve from machine-assisted driving to fully autonomous driving. Therefore, the technology gradually realizes automatic braking, fixed-speed cruise, adaptive cruise, etc., and finally fully automatic driving.
Tesla Model S is mainly based on camera combined with computer vision. Tesla assisted driving hardware includes front camera, front radar (relatively cheap millimeter wave radar), and 12 ultrasonic sensors.
Ok, understand the difference? ? ? This means that Google is relatively straightforward and allows old drivers to go home and rest. Tesla is mild, first to help you start to slowly liberate your hands...
Come to the relaxed industry giant gossip as a break between classes:
Google invested in Uber and hopes to work with Uber on the driverless business. Otto's founder Anthony was the technical director of the Google Driverless Car project. He started several times and was acquired by Google three times!
After the first N leave of Google, Otto was founded and cut into the unmanned long-distance truck market. The skill was amazing. This time he was acquired again, but it was not acquired by Google! But Uber!
Then, Uber announced that the driverless business is no longer working with Google. To develop independently, Google looks at its two old love hooks together, without playing with themselves. Well, love triangle is always unstable.
Now the question is coming? Uber and Otto are together, who is attacking who is... coughing.
Ok, let’s talk about the driverless implementation:
Hardware parts
We used the hardware solution of the young George Hotz, who was beaten in front of the face, as an introduction to teach you to build the hardware part of an unmanned driving system.
According to the analysis, the main components of George Hotz are as follows:
2016 Acura ILX car $27900
Velodyne VLP-16 16-Line Lidar $7999
Industrial camera about $2000
GIGABYTE BRIX NUC minicomputer is about $800
Car GPS is about $100
Gamepad is about $80
Consumer Inertial Measurement Unit (IMU) approximately $50
Display, network switch, USB Hub, USB-CAN conversion card, hard disk, inverter
The best part is that the solution is available in the world, and the whole package is about 4W.
Well, $40,000 is of course a small case for the local tyrants!
Acura ILX throttle, brakes and steering are all electronic, but the control interface still needs to be cracked. The VLP-16 is the most affordable Lidar LiDAR in 2015, with 16 lines, a measuring range of 100 meters and an accuracy of about 3cm. Industrial cameras offer richer front information with a global shutter and high dynamic range.
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