- π Hi, Iβm @kka-na
- π Iβm interested in AI, DL, Autonomous Vehicle
- π« How to reach me [email protected]
kka-na / aeye Goto Github PK
View Code? Open in Web Editor NEWInha University Autonomous License Project
Inha University Autonomous License Project
μ€μ κ°λ₯ν μ΅κ³ μλμμ μ§μ &곑μ μ°¨μ μ μ§(κ³ μ μ£Όνλ‘ 3λ°ν΄ μ΄μ μ μ§)
λ¨λ μ°¨μ λ³κ²½ μν μ μ μ μλ νμΈ
λ μ°¨μ μμ μ°¨μ λ³κ²½ μ μ°¨μ λ³κ²½ μ ν
μλ λ³κ²½ μ λλμ§
μ€μ μλ Maxκ° μ΄μμΌλ‘ μ€μ λΆκ°λ₯
곑μ ꡬκ°μμ μ°¨μ λ³κ²½ μ μ°¨μ λ³κ²½μ΄ νλ€λ©΄ 곑λ₯ μ λ°λΌμ μ°¨μ λ³κ²½ μ ν
곑μ ꡬκ°μμ 곑λ₯ μ λ°λΌ μ°¨λ μλ κ°μνκΈ°
μ°¨μ μ΄ν μ§μ‘°κ° λ³΄μΌ λ κ²½κ³ μλ¦Ό & μ°¨μ μ΄ν μ μμ¨ μ£Όν λͺ¨λ ν΄μ
μ°¨λ‘ λ³κ²½ μμ² μ μ¬κ°μ§λ μμμ μλ μ°¨λμ΄ μμΌλ©΄ μ°¨λ‘ μ μ§ (μ’&μ°)
μ°¨λ‘ λ³κ²½ μμ² μ μ§νμ λ μλ μ°¨λμ΄ μ¬κ°μ§λμμ λΉ μ Έλκ°λ©΄ μ°¨λ‘ λ³κ²½ μν (μ’&μ°)
μλ μ°¨λμ΄ μ λ°© μ’&μ°μΈ‘μμ cut-in νλ©΄μ κ°μνλ©΄ ACC λμμ΄ μ λλμ§
μλ μ°¨λμ΄ cut-outνλ©΄ μ€μ μλλ‘ λ€μ κ°μνλμ§
μ§μ &곑μ ꡬκ°μμ μ 체 μ ACC (μμ μ μ§κΉμ§) μλλμ§
μ 체 ν΄μ μ μ€μ μλλ‘ λ€μ κ°μνλμ§
μμΌμμ λ²μ΄λ μ ν μ°¨λμ΄ μ μ§ν΄μλ μν©μμ λ΄ μ°¨λμ΄ λ§μΆ°μ μ μ§ κ°λ₯ νμ§
μ λ°© μΆ©λ λ°©μ§ μ₯μΉ(AEB) Test 1 : μ ν μ°¨λμ΄ κΈμ μ§ μ AEB μλ (μν)
μ λ°© μΆ©λ λ°©μ§ μ₯μΉ(AEB) Test 1 : μ λ°© μ’&μ°μΈ‘μμ μλ μ°¨λμ΄ κΈκ²©νκ² Cut-in ν κΈμ μ§νμ λ AEB μλ (λ§€μ° μν)
λ±νλ‘μμ μ ν μ°¨λ μ μ§μ μμ μ μ§ + μ λ€λ‘ λ°λ¦¬μ§ μκ²(μ€λ₯΄λ§ & λ΄λ¦¬λ§)
μμ¨ μ£Όνμ μ¬μ©λλ λͺ¨λ μΌμ νλμ© λ½μ보며 μΌμ Error μ μμ¨ μ£Όν λͺ¨λ ν΄μ λλ©° μμ²κ° κ²½κ³ (Error TOR κ³μ΄)
μΌμ Error μ μ΄λ€ Sensorκ° κ³ μ₯ λ¬λμ§ νκΈ° λ κ².(μΌμ Error μ μλ μ΄μ λͺ¨λλ‘ λ°λμκ±°λ μλ μ΄μ λͺ¨λλΌλ©΄ μμ¨ μ£Όν λͺ¨λκ° μΌμ§λ©΄ μλκ² μ£ ?)
μ°¨μ μ΄ μμ ν νλ³΄κ° λ μνμμλ§ μμ¨ μ£Όν λͺ¨λκ° μΌμ§ μ μλλ‘ ν΄μΌ ν¨
μ°¨μ λλ¨ λ°μ μ μ²κ° κ²½κ³
μ°¨μ μ΄ν μ μμ¨ μ£Όν λͺ¨λ ν΄μ (Error TOR κ³μ΄ μμ²κ° μλ¦Ό)
μμ¨ μ£Όν λͺ¨λμμ μ‘μ , λΈλ μ΄ν¬, νΈλ€ νλλΌλ μλ μ μλ μ΄μ λͺ¨λ μ ν(Normal TOR κ³μ΄ μμ²κ° μλ¦Ό)
물리μ μΈ μλ μ΄μ λͺ¨λ λ²νΌ(E-STOP) μλ μ TOR μμ²κ°(Normal TOR κ³μ΄)
Take Over Request μ μμ²κ° μλ¦Ό(Error : sensor_state, system_state, lane_departure, Normal: handle trq, brake pedal, accel pedal, e-stop)
Error TOR, Normal TOR ꡬλΆνμ¬ μμ²κ° μλ¦Ό
RPM
νμ¬ λ¬΄μ¨ λͺ¨λμΈμ§(μμ¨ μ£Όν λͺ¨λ & μλ μ΄μ λͺ¨λ)
λΈλ μ΄ν¬&μ‘μ νλ¬μ μ νΈκ°
λΈλ μ΄ν¬&μ‘μ μ μλ 주체(νμ¬ λ¬΄μ¨ λͺ¨λμΈμ§μ κ°μ)
μ‘°ν₯ νΈλ€ κ°λ or μ‘°ν₯ λ°ν΄ κ°λ
λ³μλ¨
Lines 208 to 209 in 311cedc
μ΄κ±°λ₯Ό μΉ΄μ΄νΈλ₯Ό κ±Έμ΄μ 10 μ΄μ κ°μ΄λ λ€λ₯΄κ³ , 10 μ μλ 0μΌλ‘ μ΄κΈ°ν ν΄μ£Όλ©΄ λ κ² κ°μμ
self.can_cnt = 0 ... if self.can_cnt > 10 and 1 in self.switch : self.switch = [0, 0, 0]
NUCλ νμ§PCμ Plotjuggler bag νμΌ νμΈ
[1] NUVO - roscore
[2] NUVO - sensors, perception, bsd_pub, mode_check, error_check, estop_check, tor_check
[3] NUC - can_bridge
[4] CAR - ( Turn off Engine & Turn on Engine ) * 2
[5] Open Pilot - bridge
[6] NUC - lane_check, vacs, can_record
[1], [2] -> LicenseNUVO.service μ»΄ν¨ν° λΆν
μ μ€ν
[3] -> LicenseNUC_bridge.service μ»΄ν¨ν° λΆν
λ€ 20μ΄ ν μ€ν
[4] -> μ°¨ μλ κ»μΌ *2
[5] -> OpenPilot bridge
[6] -> LicenseNUC_node.sh μ€ν
Edit BSD distance from pointpillar
VACSλ OPμ½λλ₯Ό μΆκ°μ μΌλ‘ μ¬λ¦¬λκ² μ’μ보μ¬μ΄
Systemd μ λΆν μ μλ μ€νν νλ‘κ·Έλ¨μλν μ€ν¬λ¦½νΈ μμ±
νμ₯μλ *.service
serviceμμ execute ν μ€ννμΌ (*.sh)
Systemdμ μμ±ν Service λ±λ‘
systemctl daemon-reload
systemctl enabel nuvo.service
systemctl start nuvo.service
Service μν 체ν¬
systemctl list-units --type=service
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