Embedded meetup of Open Tech Week by Sigma Software, Odessa 2019

1. Confidential
Connected vehicle and Autonomous
driving concepts
Ihor Tanyenkov
Machine Learning architect

2. Confidential
• Autonomous driving
• Approaches
• Sensors
• Infrastructure
• V2X
Content

3. Confidential
The challenge

4. Confidential
The challenge

5. Confidential
The challenge

6. Confidential
How to ...

7. Confidential
The challenge
From software point of view
Sensors ActuatorsAD Framework
Imaging Sensors:
RGB cameras
LiDAR
Radar
RGB-D cameras
Infrastructure data
GPS/RTK
HD maps
V2X
communication
V2I
communication
Steering control
Acceleration
Breaking, etc

8. Confidential
The challenge
Cameras + Radar or LiDAR + HD maps

9. Confidential
The challenge
Cameras + LiDAR + IMU and Sensor fusion challenge

10. Confidential
The challenge
Lidar and IMU

11. 11
Confidential
LIDAR Unspinning
(in global coordinate system)
1. Compensate Ego-vehicle motion.
2. Compensate moving object motion.

12. 12
Confidential
LIDAR Unspinning
Developed components to solve the problem:
● Reflection filter,
● Ground filter,
● Object clusterer,
● Change detector,
● Ego motion compensator,
● Object associator,
● Motion compensator.

13. Confidential
The challenge
Cameras + LiDAR

14. Confidential
The challenge
Cameras + LiDAR

15. Confidential
The challenge
Cameras + LiDAR

16. Confidential
Still Not enough for Full
autonomy

17. Confidential
Telecom + Automotive
Cellular Vehicle-To-Everything (C-V2X) is a first step towards a fully integrated
intelligent transport system with 5G

18. Confidential
The challenge
Image from highway cam

19. Confidential
Example: automated detection and positioning
The Approach

20. Confidential
The Approach
Example: Motion flow (velocity & direction)

21. Confidential
The Approach
V2X over 5G network

22. Confidential
The Approach
Example: Sudden stop detection

23. Confidential
Worldwide C-V2X Trials (Sep 2018)