Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 2
Table of Contents
Оглавление1 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 Benchmarks 11.3 Computing System Architectures 11.4 Runtime 11.5 Middleware 11.6 Case Studies References
13 12 Innovations on the Vehicle-to-Everything Infrastructure 12.1 Introduction 12.2 Evolution of V2X Technology 12.3 Cooperative Autonomous Driving 12.4 Challenges References
14 13 Vehicular Edge Security 13.1 Introduction 13.2 Sensor Security 13.3 Operating System Security 13.4 Control System Security 13.5 V2X Security 13.6 Security for Edge Computing References
15 Index
