Build Your Own Self Driving Vehicle with Java

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Newcomer: Build Your Own Self Driving Vehicle with Java

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Wolfgang Fahl info@bitplan.com

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JavaLand 2021 Build Your Own Self Driving Vehicle with Java

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Dienstag, 16. März, 14:00-14:40 Quantum 3

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⌘⌘ Der Wettbewerb

⌘⌘ Die Autos

• 1:10 Modellauto
• Ferrari 360 Challenge Stradale / Ford 150-SVT
• Raspberry Pi
• Kamera Pi oder Webcam
• Servosteuerung Pi oder Adafruit

Coole Projekte z.B. bei Dräger

⌘⌘ Self Driving Car Open Source

• https://github.com/topics/self-driving-car
• https://github.com/topics/self-driving-car?l=java
• https://www.intorobotics.com/the-best-raspberry-pi-3-advanced-and-starter-kits-for-robotics/

⌘⌘ Selbstfahrende Autos

⌘⌘ Das rc-dukes Projekt

https://github.com/rc-dukes/dukes

⌘⌘ Das Team

Bert-Jan
Tim
Wolfgang

⌘⌘ Komponenten

Software	Elektronik	Mechanik

⌘⌘ Bauteile - Elektronik / Mechanik

			...
	...	...	...

Teileliste

⌘⌘ Systemkontext - Software

Self_Driving_RC_Car/Systemcontext

⌘⌘ Software - Vert.X

Vert.x

see Jenkov Tutorials

#	module		DukesVerticle	Character	tests	responsibility
1	action		✓	Luke	✓	Proc Image analysis results into actions
2	app		✓	Uncle Jesse		JavaFX app to monitor the car
3	car		✓	Bo		Processing Car control inputs
4	camera-matrix		❌	Cooter		CameraMatrix and PerspectiveShift
5	detect		✓	Daisy		Detectors - e.g. Lane and StartLight
6	geometry		❌	Enos		Geometry
7	imageview		✓	Rosco		lane detection debug image web server
8	roi		❌	Cletus		Region of Interest
9	watchdog		✓	Flash	✓	Heartbeat controller watchdog
10	webcontrol		✓	Boss Hogg	✓	Application to provide manual inputs

⌘⌘ Software - RxJava

RxJava

• see refcount operator
• 

⌘⌘ Software - OpenCV

• Play Chess With a Web Cam Projekt
• Hough Lines Detection
• Probabilistic
• Standard

⌘⌘ Software - OpenCV - Camera Calibration

Self_Driving_RC_Car/CameraCalibration

⌘⌘ Software - Steuerungs-App

Self_Driving_RC_Car/App

⌘⌘ Probeläufe

Ratssaal der Stadt Willich Turnhalle des TV Schiefbahn e.V.

⌘⌘ Fahrzeug Simulation

Übersicht Weebots dash2 SUMO TraCI Veins

⌘⌘ Dash2

Dash Dash2 = Dash + VERT.X Verticle

⌘⌘ PIT-Manöver

selbstfahrende Polizei PIT-Chaser? Verbrecherautos mit Anti-PIT Software?

⌘⌘ Sicherheit

Vision Zero

⌘⌘ Unfallrisiko und Unfalluntersuchung

	✝	seit	Pflichtuntersuchung
✈	1 x	1944	BFU, NTSB, TSB, BEA, ...
🚆	10 x	1994	BEU, NTSB, ERA
🚢	50 x	1878	Seeamt
🚌	8 x	❌	ÖU,UDV
🚗	60 x
🚲	900 x
🏍	2200 x

⌘⌘ Zugänglichkeit

⌘⌘ Lab

⌘⌘ Weitere Links

• Unfallstatistiken
  • Straßenverkehrsunfallstatistik Deutschland
  • Travel Safety: Time versus Distance
• https://www.donkeycar.com/
  • http://docs.donkeycar.com/supported_cars/
• https://www.amazon.com/dp/B07JMHRKQG