This book is one of the first technical overviews of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences designing autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions as to its future actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, new algorithms can be tested so as to update the HD map—in addition to training better recognition, tracking, and decision models. Since the first edition of this book was released, many universities have adopted it in their autonomous driving classes, and the authors received many helpful comments and feedback from readers. Based on this, the second edition was improved by extending and rewriting multiple chapters and adding two commercial test case studies. In addition, a new section entitled “Teaching and Learning from this Book” was added to help instructors better utilize this book in their classes. The second edition captures the latest advances in autonomous driving and that it also presents usable real-world case studies to help readers better understand how to utilize their lessons in commercial autonomous driving projects. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find extensive references for an effective, deeper exploration of the various technologies.
This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Destroying one's face and killing one's heart; these three years of trekking on the thorny path; this was a plan between his sister and his husband. Sobbing Blood Nirvana, rebirth, she was no longer the weak Direct Daughter that anyone could bully. She had killed the Zhenguo Mansion, destroyed the Song Manor, turned over the clouds and turned the rain, shocking the entire city. As for him, a good-for-nothing, a living ancestor who was sighing, what he did not know was that this game of chess that he had casually picked up was shaking the world around him. She wanted to kill him, but she walked step by step into his trap. Later on, there were people who praised him for his bravery in traversing the chaotic times and fighting in wars. His Majesty truly deserved to be called a hero when mountains and rivers were shattered. Little bun chuckled: "Mother, are you sure you want to hide here?" Wait till Daddy finds her, her Northern Desert is going to be finished.
Mommy, where is our dad?" "Gu Ning." The two cute and pitiful looking people looked at Gu Ning. Eh ... Didn't Mom tell you? "You have no father, your father is dead." "Mommy, are you telling the truth?" "Of course, what Mommy said is true. When has Mommy ever lied to you?" "Then who is he?" The two cute kids pointed at the area behind Gu Ning. Gu Ning turned around and looked at the face that was very similar to his own two children. For a moment, she didn't know how to respond. Hearing Gu Ning's words, Mu Yu Xuan's face was filled with anger. He gritted his teeth and said angrily: "Heh, a woman like you actually dared to say I'm dead. I'll let you see whether I'm alive or dead." After saying that, he stepped forward and carried Gu Ning into the bedroom. " "Big brother, mom will be fine, right?" I don't think so.
Raven Spinners and her family are forced to build a home in a house they've never seen before. Strange things happen, but stranger things are coming their way. But through it all they know this: that they'll make it work. Their family, after all, is bent; not broken.
Mommy, where is our dad?" "Gu Ning." The two cute and pitiful looking people looked at Gu Ning. Eh ... Didn't Mom tell you? "You have no father, your father is dead." "Mommy, are you telling the truth?" "Of course, what Mommy said is true. When has Mommy ever lied to you?" "Then who is he?" The two cute kids pointed at the area behind Gu Ning. Gu Ning turned around and looked at the face that was very similar to his own two children. For a moment, she didn't know how to respond. Hearing Gu Ning's words, Mu Yu Xuan's face was filled with anger. He gritted his teeth and said angrily: "Heh, a woman like you actually dared to say I'm dead. I'll let you see whether I'm alive or dead." After saying that, he stepped forward and carried Gu Ning into the bedroom. " "Big brother, mom will be fine, right?" I don't think so.
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