Abstract
A holistic design and cost-efficient platform to construct self-driving systems is presented with an emphasis on Linux-based software architectures for computer vision, control system, and inter-vehicle communication. Starting with an executable specification of autonomous car application, subsequent transformations are performed across different levels of abstraction until the final implementation is achieved. The software partitioning is facilitated through the integration of ROS and OpenCV in the same design environment, as well as closed-loop control algorithms and Linux in the run-time system. We built a rapid prototyping based on fundamentally open source technologies and hardware under 100 dollars USD, which allows developers to be explored and evaluated in realistic conditions efficiently. Using lane departure and the corresponding performance speedup, we show that our platform reduces the design time, while improving the verification efforts, with the aid of tweaked real-time executives.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Waldrop, M.: Autonomous vehicles: no drivers required. Nature, 20–23 (2015)
van Arem, B., van Driel, C.J., Visser, R.: The impact of cooperative adaptive cruise control on traffic-flow characteristics vol. 7, no. 4, pp. 429–436. IEEE, December 2006
Zanona, M.: How driverless cars can reduce pollution (2016)
Gao, P., Hensley, R., Zielke, A.: A road map to the future for the auto industry (2014)
Fallows, J.: Why the maker movement matters (2016)
Tani, J., Paull, L., Zuber, M., Rus, D., How, J., Leonard, J., Censi, A.: Duckietown: an Innovative Way to Teach Autonomy (2016)
Hosek, P., Pop, T., Bures, T., Hnetynka, P., Malohlava, M.: Comparison of component frameworks for real-time embedded systems. In: Component Based Software Engineering (CBSE 2010), June 2010
Arctic core for autosar version 3.1. https://www.arccore.com/products/arctic-core/arctic-core-for-autosar-v31
Ros - robot operating system. http://www.ros.org/
Gerkey, B.P., Vaughan, R.T., Howard, A.: The player/stage project: tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics, pp. 317–323 (2003)
Cedeo, W., Laplante, P.A.: An overview of real-time operating systems. JALA J. Assoc. Lab. Autom. 12(1), 40–45 (2007)
Xenomai real-time framework for linux. https://xenomai.org/
Huang, C.-C., Lin, C.-H., Wu, C.-K.: Performance evaluation of Xenomai 3. In: Real-Time Linux Workshop (2015)
WiringPi, GPIO interface library for the raspberry Pi. http://wiringpi.com/
Testing linux, one syscall at a time. http://linux-test-project.github.io/
Cyclictest. https://rt.wiki.kernel.org/index.php/Cyclictest
Build a faster OpenCV for raspberry Pi3. https://www.theimpossiblecode.com/blog/build-faster-opencv-raspberry-pi3/
Advanced SIMD for arm. https://developer.arm.com/technologies/neon
Intel threading building blocks. https://www.threadingbuildingblocks.org/
Acknowledgment
We would like to express our deep gratitude to Professor Nick Wang of National Chao Tung University in Taiwan for his enthusiastic encouragement on Duckietown lecture.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Wang, SH., Cheng, SW., Huang, CC.(. (2019). Puyuma: Linux-Based RTOS Experimental Platform for Constructing Self-driving Miniature Vehicles. In: Arai, K., Kapoor, S., Bhatia, R. (eds) Intelligent Computing. SAI 2018. Advances in Intelligent Systems and Computing, vol 858. Springer, Cham. https://doi.org/10.1007/978-3-030-01174-1_75
Download citation
DOI: https://doi.org/10.1007/978-3-030-01174-1_75
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-01173-4
Online ISBN: 978-3-030-01174-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)