Difference between revisions of "Build Your Own Self Driving Vehicle with Java"

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{{PageSequence|prev=SMWConTalk2019-09|next=|category=talk|categoryIcon=picture-o}}
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{{PageSequence|prev=SMWConTalk2019-09|next=SMWConTalk2020-04|category=talk|categoryIcon=picture-o}} {{ShowSlides}}
−
* https://programm.javaland.eu/2020/#/scheduledEvent/590415
+
 
 
<slideshow style="bitplan" headingmark="⌘⌘" incmark="…" scaled="true" font="Comic Sans MS, Calibri, cursive" >
 
<slideshow style="bitplan" headingmark="⌘⌘" incmark="…" scaled="true" font="Comic Sans MS, Calibri, cursive" >
 
;title: [[File:BITPlanLogoFontLessTransparent.png|240px|link=http://www.bitplan.com|BITPlan]]<br>[[File:WolfgangFahl.png|200px|left|link=https://programm.javaland.eu/2020/#/speaker/386323|Wolfgang Fahl]]<br><span style='font-size:150%'>Newcomer: Build Your Own Self Driving Vehicle with Java</span>
 
;title: [[File:BITPlanLogoFontLessTransparent.png|240px|link=http://www.bitplan.com|BITPlan]]<br>[[File:WolfgangFahl.png|200px|left|link=https://programm.javaland.eu/2020/#/speaker/386323|Wolfgang Fahl]]<br><span style='font-size:150%'>Newcomer: Build Your Own Self Driving Vehicle with Java</span>
 
;author: <span style='font-size:50%'><br>[https://programm.javaland.eu/2020/#/speaker/386323 Wolfgang Fahl] [mailto:info@bitplan.com info@bitplan.com]</span>
 
;author: <span style='font-size:50%'><br>[https://programm.javaland.eu/2020/#/speaker/386323 Wolfgang Fahl] [mailto:info@bitplan.com info@bitplan.com]</span>
−
;footer: BITPlan's contribution to SMWCon Fall 2019
+
;footer: [https://programm.javaland.eu/2021/#/scheduledEvent/606752 JavaLand 2021 Build Your Own Self Driving Vehicle with Java]
−
;subfooter: [https://programm.javaland.eu/2020/#/scheduledEvent/590415]
+
;subfooter: Dienstag, 16. März, 14:00-14:40 Quantum 3
 
</slideshow>
 
</slideshow>
 +
== ⌘⌘ Der Wettbewerb ==
 +
<HTML5video>full_run</HTML5video>
 +
http://diagrams.bitplan.com/render/png/0x7d4425dc.png
 +
 +
== ⌘⌘ Demo ==
 +
{{Video|video=DukesDemo|width=720|height=540}}
 +
 +
== ⌘⌘ Die Autos ==
 +
[[File:RC10FerrariUtrecht.JPG|240px|link=https://programm.javaland.eu/2020/#/scheduledEvent/590415|left]][[File:FordRC10.png|400px|right]]
 +
* [https://www.tamiya.de/de/produkte/rc-modelle/rc-on-road-24-wd/1-10-rc-ferrari-laferrari-tt-02-300058582/ 1:10 Modellauto]
 +
* [https://de.wikipedia.org/wiki/Ferrari_360#F360_Challenge_Stradale Ferrari 360 Challenge Stradale] / [https://en.wikipedia.org/wiki/Ford_F-Series#SVT_Lightning_(1993-1995;_1999-2004) Ford 150-SVT]
 +
* [https://www.raspberrypi.org/ Raspberry Pi]
 +
* Kamera [https://projects.raspberrypi.org/en/projects/getting-started-with-picamera Pi] oder [https://www.logitech.com/de-de/product/hd-webcam-c615 Webcam]
 +
* Servosteuerung [http://wiki.bitplan.com/index.php/SG90-Servo Pi] oder [http://wiki.bitplan.com/index.php/PCA9685 Adafruit]
 +
 +
<div class='notes' id='note 1'>
 +
Coole Projekte z.B. bei Dräger
 +
</div>
 +
 +
== ⌘⌘ 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/
 +
 +
[[File:SacusaCar.jpeg|link=https://github.com/Sacusa/Self-Driving-Car|300px]]
 +
[[File:Donkey2.png|link=https://github.com/autorope/donkeycar|300px]]
 +
 +
== ⌘⌘ Selbstfahrende Autos  ==
 +
[[File:beandrive.png|480px|link=https://youtu.be/VjLRTifjpxA|Mr Bean|left]]
 +
{{Video|video=drive|width=640|height=480}}
 +
 +
== ⌘⌘ Das rc-dukes Projekt ==
 +
[[File:Generallee2020-01-16.png|link=https://github.com/rc-dukes/dukes|Dukes of Hazzard self driving RC car|right]]
 +
https://github.com/rc-dukes/dukes
 +
{{Video|video=Dukes-cut|width=640|height=480}}
 +
 +
== ⌘⌘ Das Team ==
 +
{|
 +
|-
 +
|
 +
|
 +
|
 +
!rowspan="4"|[[File:Teilnehmer3.JPG|600px|BITPlan Trainings-Teilnehmer|link=http://training.bitplan.com]]
 +
|-
 +
|  [https://www.linkedin.com/in/bjschrijver/ Bert-Jan] || [[File:BertJanRound.png|link=https://github.com/bertjan|150px|Jan]] || [[File:openvaluelogo.png|150px|link=https://www.openvalue.nl/|Open Value]]
 +
|-
 +
| [https://www.linkedin.com/in/tvaneijndhoven/ Tim] || [[File:TimRound.png|150 px|Tim|link=https://github.com/timve]] || [[File:jpointlogo.png|150px|JPoint|link=https://www.jpoint.nl/]]
 +
|-
 +
| [http://www.bitplan.com/index.php/Wolfgang_Fahl Wolfgang] || [[File:WolfgangFahl.png|150px|Wolfgang|link=https://github.com/WolfgangFahl]] || [[File:BITPlanLogoFontLessTransparent.png|150px|link=http://www.bitplan.com]]
 +
|-
 +
|  || ||
 +
|}
 +
 +
== ⌘⌘ Komponenten ==
 +
{|
 +
|-
 +
! Software !! Elektronik !! Mechanik
 +
|-
 +
| [[File:Vertx-Logo-sm.png|200px|link=http://wiki.bitplan.com/index.php/Vert.x]]<br>[[File:Rxjavalogo.png|200px|link=https://github.com/ReactiveX/RxJava]]
 +
[[File:OpenCV_Logo_with_text.png|200px|link=http://wiki.bitplan.com/index.php/OpenCV|OpenCV]]
 +
| [[File:RcCarWiring2019-06-22.png|link=http://wiki.bitplan.com/index.php/SG90-Servo|Servo control]][[File:PCA9685 Servotreiber x700.jpg|link=http://wiki.bitplan.com/index.php/PCA9685|150px|Adafruit 16 channel PWM servo driver]]
 +
| [[File:RCCar-IMG_3566free.png|300px]][[File:cameraholder.png|300px|link=https://openjscad.org/#http://openjscad.org/examples/slices/tor.jscad]]
 +
|}
 +
 +
== ⌘⌘ Bauteile - Elektronik / Mechanik ==
 +
{|
 +
|-
 +
| || [[File:RC Car Chassis 2019-06-07.jpeg|150px|link=http://wiki.bitplan.com/index.php/Self_Driving_RC_Car#tab=Parts_List|Chassis]] || [[File:SpeedControl_2019-06-06.jpg|150px|link=http://wiki.bitplan.com/index.php/Self_Driving_RC_Car#tab=Parts_List|Speed Control]] || [[File:RC Car Servo 2019-06-06.jpg|150px|link=http://wiki.bitplan.com/index.php/Self_Driving_RC_Car#tab=Parts_List|Servo]]
 +
|-
 +
| || [[File:713LX1Z383L._SL1500_.jpg|150px|link=http://wiki.bitplan.com/index.php/Self_Driving_RC_Car#tab=Parts_List|Raspberry PI]] || [[File:TopFuel-LiPo-25C-ECO-X-1300mAh-3S-21300341 b 0.JPG|150px|link=http://wiki.bitplan.com/index.php/Self_Driving_RC_Car#tab=Parts_List|Battery]] || ...
 +
|-
 +
| || ... || ... || ...
 +
|}
 +
{{Link|target=Self_Driving_RC_Car/Parts-List|title=Teileliste}}
 +
 +
== ⌘⌘  Systemkontext - Software ==
 +
{{Link|target=Self_Driving_RC_Car/Systemcontext}}
 +
http://diagrams.bitplan.com/render/png/0xa7a576a7.png
 +
== ⌘⌘ Software - Vert.X  ==
 +
{{Link|target=Vert.x}}
 +
 +
http://tutorials.jenkov.com/images/vertx/vertx-overview-2.png see [http://tutorials.jenkov.com/vert.x/overview.html Jenkov Tutorials]
 +
 +
{| class="wikitable sortable"
 +
|-
 +
! # !! module !! !! DukesVerticle !! Character !! tests !! responsibility
 +
|-
 +
| 1 || [https://rc-dukes.github.io/dukes/dukes/apidocs/nl/vaneijndhoven/dukes/action/package-summary.html action] || [[File:Luke.png]] || {{Done}} || Luke || {{Done}} || Proc Image analysis results into actions
 +
|-
 +
| 2 || app || [[File:Unclejesse.png]] || {{Done}}  || Uncle Jesse ||  || JavaFX app to monitor the car
 +
|-
 +
| 3 || car || [[File:Bo.png]] || {{Done}}  || Bo ||  || Processing Car control inputs
 +
|-
 +
| 4 || camera-matrix || [[File:Cooter.png]]  || ❌ || Cooter ||  || CameraMatrix and PerspectiveShift
 +
|-
 +
| 5 || detect || [[File:Daisy.png]] || {{Done}} || Daisy ||  || Detectors - e.g. Lane and StartLight
 +
|-
 +
| 6 || geometry || [[File:Enos.png]] || ❌ || Enos ||  || Geometry
 +
|-
 +
| 7 || imageview || [[File:Rosco.png]] ||  {{Done}} || Rosco ||  || lane detection debug image web server
 +
|-
 +
| 8 || roi || [[File:Cletus.png]] || ❌ || Cletus ||  || Region of Interest
 +
|-
 +
| 9 || watchdog || [[File:Flash.png]] || {{Done}} || Flash || {{Done}} || Heartbeat controller watchdog
 +
|-
 +
| 10 || webcontrol || [[File:BossHogg.png]] || {{Done}} || Boss Hogg || {{Done}} || Application to provide manual inputs
 +
|}
 +
 +
== ⌘⌘  Software - RxJava ==
 +
{{Link|target=RxJava}}
 +
* http://reactivex.io/documentation/operators/images/publishRefCount.c.png see [http://reactivex.io/documentation/operators/refcount.html refcount operator]
 +
* http://diagrams.bitplan.com/render/png/0x3b4f6cd2.png
 +
 +
== ⌘⌘  Software - OpenCV ==
 +
[[File:PlayChessWithAWebCam2019-10-26.png|400px|link=https://github.com/WolfgangFahl/play-chess-with-a-webcam]]
 +
[[File:detectedProbabilisticHough2019-10-21.png|300px]]
 +
[[File:detectedHough2019-10-21.png|300px]]
 +
* [https://github.com/WolfgangFahl/play-chess-with-a-webcam Play Chess With a Web Cam Projekt]
 +
* [http://wiki.bitplan.com/index.php/PlayChessWithAWebCam#hough_lines Hough Lines Detection]
 +
* Probabilistic
 +
* Standard
 +
== ⌘⌘  Software - OpenCV - Camera Calibration ==
 +
{{Link|target=Self_Driving_RC_Car/CameraCalibration}}
 +
[[File:lines_2020-01-13154553.jpg]]
 +
[[File:birdseye_2020-01-13154553.jpg]]
 +
[[File:edges_2020-01-13154553.jpg]]
 +
[[File:camera_2020-01-13154553.jpg]]
 +
 +
== ⌘⌘ Konzeptionelle Integrität ==
 +
{{Svg|url=2/2c/Dukeschars.svg|width=900|height=900}}
 +
== ⌘⌘ Software - Steuerungs-App ==
 +
{{Link|target=Self_Driving_RC_Car/App}}
 +
[[File:DukesScreenShot2020-01-07.png|1280px]]
 +
 +
== ⌘⌘ Probeläufe ==
 +
{|
 +
|-
 +
|{{Video|video=RCRun9|width=600|height=600}}
 +
|<br>
 +
* [[File:Stadt-Willich-Logo.svg|150px|title=Stadt Willich|link=https://www.stadt-willich.de/]] Ratssaal der Stadt Willich
 +
* Turnhalle des TV Schiefbahn e.V.
 +
|}
 +
 +
== ⌘⌘ Fahrzeug Simulation ==
 +
{|
 +
|-
 +
| {{Video|video=WeebotsHighwayCrash|width=720|height=540}}
 +
|<br>
 +
* [http://wiki.bitplan.com/index.php/Vehicle_simulation_software Übersicht]
 +
* [https://robotbenchmark.net/benchmark/highway_driving/simulation.php?user=1380 Weebots]
 +
* [https://github.com/rc-dukes/dash2 dash2]
 +
* [https://sumo.dlr.de SUMO]
 +
* [https://sumo.dlr.de/docs/TraCI.html TraCI]
 +
* [http://veins.car2x.org/ Veins]
 +
|}
 +
 +
== ⌘⌘ Dash2 ==
 +
{{Link|target=Dash}}
 +
Dash2 = Dash + VERT.X Verticle
 +
[[File:generallee2020-01-16sim.png|400px]]
 +
[[File:DashRC-Dukes2020-01-15.png|800px]]
 +
 +
== ⌘⌘ PIT-Manöver ==
 +
{|
 +
|-
 +
| {{Video|video=PitManouever|width=640|height=480}}
 +
| <br>
 +
* selbstfahrende Polizei PIT-Chaser?
 +
* Verbrecherautos mit Anti-PIT Software?
 +
|}
 +
 +
== ⌘⌘ Sicherheit ==
 +
{|
 +
|-
 +
|{{Video|video=PikesPeakCrash|width=640|height=480}}
 +
|<br>
 +
* [https://en.wikipedia.org/wiki/Vision_Zero Vision Zero]
 +
|}
 +
== ⌘⌘ Unfallrisiko und Unfalluntersuchung ==
 +
{| class="wikitable"
 +
|-
 +
! !! {{UtfIcon|utf=✝|size=36|color=black}} !! seit !! Pflichtuntersuchung
 +
|-
 +
| {{UtfIcon|utf=✈|size=64|color=blue}}
 +
| style="text-align:right;" | 1 x
 +
| style="width:100px" | 1944
 +
| [https://de.wikipedia.org/wiki/Bundesstelle_f%C3%BCr_Flugunfalluntersuchung BFU], [https://ntsb.gov NTSB], [https://www.tsb.gc.ca TSB], [https://www.bea.aero/en/ BEA], ...
 +
|-
 +
| {{UtfIcon|utf=🚆|size=36|color=blue}}
 +
| style="text-align:right;"| 10 x
 +
| 1994
 +
| [https://www.eisenbahn-unfalluntersuchung.de BEU], [https://ntsb.gov NTSB], [https://www.era.europa.eu ERA]
 +
|-
 +
| {{UtfIcon|utf=🚢|size=36|color=blue}}
 +
| style="text-align:right;"| 50 x
 +
| 1878
 +
| [https://www.gdws.wsv.bund.de/DE/schifffahrt/01_seeschifffahrt/seeamt/seeamt-node.html Seeamt]
 +
|-
 +
|{{UtfIcon|utf=🚌|size=36|color=blue}}
 +
| style="text-align:right;"| 8 x
 +
! rowspan="4" | ❌
 +
! rowspan="4" | [https://de.wikipedia.org/wiki/%C3%96rtliche_Unfalluntersuchung ÖU],[https://udv.de/ UDV]
 +
|-
 +
| {{UtfIcon|utf=🚗|size=36|color=blue}}
 +
| style="text-align:right;"| 60 x
 +
|-
 +
| {{UtfIcon|utf=🚲|size=36|color=blue}}
 +
| style="text-align:right;"| 900 x
 +
|-
 +
| {{UtfIcon|utf=🏍|size=36|color=blue}}
 +
| style="text-align:right;"| 2200 x
 +
|}
 +
 +
== ⌘⌘ Zugänglichkeit ==
 +
[[File:Wiring-IMG_0035.JPG|960px|target=http://pi-q-robot.bitplan.com/]]
 +
 +
== ⌘⌘ Lab ==
 +
[[File:angleplot2019-07-02.png|400px|right|link=http://wiki.bitplan.com/index.php/Ultrasound_Triangulation|Ultrasound Triangulation]]
 +
{{Video|video=20190612_084825|width=640|height=480}}
 +
 +
 +
== ⌘⌘ Weitere Links ==
 +
* Unfallstatistiken
 +
** [https://www.destatis.de/DE/Themen/Gesellschaft-Umwelt/Verkehrsunfaelle/Tabellen/liste-strassenverkehrsunfaelle.html Straßenverkehrsunfallstatistik Deutschland]
 +
** [http://www.ijhssnet.com/journals/Vol_5_No_7_1_July_2015/15.pdf Travel Safety: Time versus Distance]
 +
* https://www.donkeycar.com/
 +
** http://docs.donkeycar.com/supported_cars/
 +
* https://www.amazon.com/dp/B07JMHRKQG
 +
[[File:DiessRoboterAutos.png|400px]]
 +
 +
== ⌘⌘ Präsentationen ==
 +
<youtube>OL0vg1WmI6I</youtube>
 +
<youtube>YeUMtQyvZKM</youtube>
 +
<youtube>vWZZ-c8hDTg</youtube>
 +
== ⌘⌘ Youtube Videos ==
 +
<youtube>IWB4xj7EILg</youtube>
 +
<youtube>VjLRTifjpxA</youtube>
 +
<youtube>pUZtAK5jjyE&t=18</youtube>
 +
<youtube>gwAi4wwPnZA</youtube>
 +
<youtube>cB_ez2MNHMo</youtube>
 +
<youtube>BBwEF6WBUQs</youtube>
 +
<youtube>5VBD7hVRhx0</youtube>
 +
  
−
== ⌘⌘ The Car ==
 
 
[[Category:Talk]]
 
[[Category:Talk]]

Latest revision as of 13:42, 19 April 2023

view Build Your Own Self Driving Vehicle with Java as slides

<slideshow style="bitplan" headingmark="⌘⌘" incmark="…" scaled="true" font="Comic Sans MS, Calibri, cursive" >

title
BITPlan
Wolfgang Fahl

Newcomer: Build Your Own Self Driving Vehicle with Java
author

Wolfgang Fahl info@bitplan.com
footer
JavaLand 2021 Build Your Own Self Driving Vehicle with Java
subfooter
Dienstag, 16. März, 14:00-14:40 Quantum 3

</slideshow>

⌘⌘ Der Wettbewerb

0x7d4425dc.png

⌘⌘ Demo

⌘⌘ Die Autos

RC10FerrariUtrecht.JPG
FordRC10.png

Coole Projekte z.B. bei Dräger

⌘⌘ Self Driving Car Open Source

SacusaCar.jpeg Donkey2.png

⌘⌘ Selbstfahrende Autos

Mr Bean

⌘⌘ Das rc-dukes Projekt

Dukes of Hazzard self driving RC car

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

⌘⌘ Das Team

BITPlan Trainings-Teilnehmer
Bert-Jan Jan Open Value
Tim Tim JPoint
Wolfgang Wolfgang BITPlanLogoFontLessTransparent.png

⌘⌘ Komponenten

Software Elektronik Mechanik
Vertx-Logo-sm.png
Rxjavalogo.png

OpenCV

Servo controlAdafruit 16 channel PWM servo driver RCCar-IMG 3566free.pngCameraholder.png

⌘⌘ Bauteile - Elektronik / Mechanik

Chassis Speed Control Servo
Raspberry PI Battery ...
... ... ...

Teileliste

⌘⌘ Systemkontext - Software

Self_Driving_RC_Car/Systemcontext 0xa7a576a7.png

⌘⌘ Software - Vert.X

Vert.x

vertx-overview-2.png see Jenkov Tutorials

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

⌘⌘ Software - RxJava

RxJava

⌘⌘ Software - OpenCV

PlayChessWithAWebCam2019-10-26.png DetectedProbabilisticHough2019-10-21.png DetectedHough2019-10-21.png

⌘⌘ Software - OpenCV - Camera Calibration

Self_Driving_RC_Car/CameraCalibration Lines 2020-01-13154553.jpg Birdseye 2020-01-13154553.jpg Edges 2020-01-13154553.jpg Camera 2020-01-13154553.jpg

⌘⌘ Konzeptionelle Integrität

⌘⌘ Software - Steuerungs-App

Self_Driving_RC_Car/App DukesScreenShot2020-01-07.png

⌘⌘ Probeläufe


  • title=Stadt Willich Ratssaal der Stadt Willich
  • Turnhalle des TV Schiefbahn e.V.

⌘⌘ Fahrzeug Simulation


⌘⌘ Dash2

Dash Dash2 = Dash + VERT.X Verticle Generallee2020-01-16sim.png DashRC-Dukes2020-01-15.png

⌘⌘ PIT-Manöver


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

⌘⌘ Sicherheit


⌘⌘ 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

target=http://pi-q-robot.bitplan.com/

⌘⌘ Lab

Ultrasound Triangulation


⌘⌘ Weitere Links

DiessRoboterAutos.png

⌘⌘ Präsentationen

⌘⌘ Youtube Videos

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