Achieve Highway Automation
The Dataspeed Highway Driving Software Stack provides automated highway driving R&D functionality including Lane Keeping, Adaptive Cruise Control (ACC), and Automated Lane Change. This package is utilized with a suite of sensors to allow engineering teams to build upon their autonomous research and testing.
The system supports any number of lidar and radar sensors, as long as the host computer is able to process all of the incoming sensor data.
How Does the Software Stack Work?
1. Sensor driver modules collect raw data from radar, lidar, and MobilEye sensors.
2. Perception modules process the raw sensor data and produce:
3. Planning modules take the perception output and decide:
4. Control modules take inputs from the planning modules consisting of an ACC target object, lane center target, and speed and steering commands in order to generate drive-by-wire actuator commands.
Users are able to manipulate the software stack to fit specific research and development needs including:
Lidar Object Tracking & Filtering Module
Point Cloud Segmentation
Kalman Tracking Filter
Radar Object Filtering Module
Raw Radar Objects
Only Moving Objects
Sensor Fusion Module
Sensor fusion combines object tracking data from all lidar and radar sensors into a single object list. It transforms all objects into vehicle frame coordinates for use by the planning and control modules. Combining data from multiple sensors makes the system more robust. Radar detects objects at longer range than lidar, allowing the vehicle to better react to high relative velocity situations in a timely manner. The radar is more reliable in inclement weather while the lidar detects stationary objects that are filtered out from radar object list.
Lane Detection Module
Dataspeed developed the lane detection module to input the individual lane markings as reported by the MobilEye sensor. Using the lane marking geometry, the lane detection module generates a filtered center line for the vehicle’s current lane and the two neighboring lanes.
MobilEye lane detection makes use of reported quality and lane marking type:
Adaptive Cruise Control Module
Adaptive cruise control (ACC) intuitively regulates a vehicle’s acceleration and braking by following a nominal set speed. The set speed is initialized to the
current vehicle speed when the system is engaged and can be incremented and decremented by the safety driver. Through active monitoring of other
vehicles and objects on the road, adaptive cruise control enables a safe and comfortable driving experience.
When an ACC target object is detected, control output switches to acceleration.
Considers the complete list of objects from sensor fusion module and determines whether each object is in the ego lane or not. Current steering wheel angle is used to predict where the ego lane is when in a curve. The closest in-lane object is sent to the ACC module.