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Introduction:vialab [2023/02/13 12:23] hyjeong |
Introduction:vialab [2024/02/15 06:51] (current) hyjeong [Automated Valet Parking (AVP)] |
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| == 3-D Object Detection == | == 3-D Object Detection == | ||
| We can also utilize deep neural networks to detect road objects based on LiDAR pointclouds. Using 128-CH Ouster LiDAR pointcloud as the input, the video (3 X speed) below shows the 3-D bounding boxes of vehicles, buses, motorcycles, and pedestrians. A self-driving vehicle can improve the accuracy and reliability of detecting road objects by the fusion of camera, LiDAR, and radar sensors. | We can also utilize deep neural networks to detect road objects based on LiDAR pointclouds. Using 128-CH Ouster LiDAR pointcloud as the input, the video (3 X speed) below shows the 3-D bounding boxes of vehicles, buses, motorcycles, and pedestrians. A self-driving vehicle can improve the accuracy and reliability of detecting road objects by the fusion of camera, LiDAR, and radar sensors. | ||
| - | {{ :Introduction:lidar_object_detection.mp4?960x560 | LiDAR Object Detection}} | + | {{ - :Introduction:lidar_object_detection.mp4?960x560 | LiDAR Object Detection}} |
| == Vehicle Control by Joystick Maneuvers == | == Vehicle Control by Joystick Maneuvers == | ||
| Line 45: | Line 45: | ||
| - | == AVP Demo at PNU Campus == | + | === AVP Demo at PNU Campus === |
| - | When the driver arrives at the entrance of parking lot via manual driving, and requests valet parking service using a smartphone AVP app, the golf cart creates a shortest path from the current position to the destination parking slot. The <color #241ced>**model predictive control (MPC)**</color> module determines the speed and steering of the golf cart during the self-driving. The video below demonstrates that our AVP golf cart can be parked successfully through self-driving at the PNU Jangjeon campus. | + | AVP enables vehicles to automatically perform parking tasks without driver intervention, which includes finding a parking space within a designated area, navigating to the spot, and completing the parking maneuver within a designated parking slot. |
| - | {{ :Introduction:avp_mini.mp4?960x560 | AVP Demo}} | + | |
| + | When the driver arrives at the entrance of parking lot via manual driving, and requests valet parking service using a smartphone AVP app, the golf cart creates a shortest path from the current position to the destination parking slot. The model predictive control (MPC) module determines the speed and steering of the golf cart during the self-driving. The video below demonstrates that our AVP golf cart can park successfully through self-driving at the PNU Jangjeon campus in an <color #241ced>**exclusive traffic**</color> scenario. | ||
| + | {{ :Introduction:avp_et.mp4?960x560 | AVP Demo}} | ||
| + | |||
| + | == AVP Demo with Mixed Traffic == | ||
| + | In a <color #241ced>**mixed traffic**</color> scenario, our AVP golf cart accurately perceives both stationary and dynamic objects in its surrounding environment, enabling it to generate safe paths and avoid collisions in real-time. This advanced capability allows the AVP golf cart to confidently navigate and park itself in unstructured parking areas with arbitrary traffic, eliminating the need for driver intervention. | ||
| + | {{ :Introduction:avp_mt.mp4?960x560 | AVP with Mixed Traffic}} | ||
| + | |||
| ==== Automated Guided Vehicles Control System (ACS) ==== | ==== Automated Guided Vehicles Control System (ACS) ==== | ||
| - | To coordinate the access of multiple AGVs to the shared resources, such as intersection, we are currently developing an <color #ed1c24>**open-source, platform-independent, and vendor-independent AGV control system (ACS)**</color> which will be actually deployed in a factory of [[https://www.swhitech.com |Sungwoo HiTech]] in March 2023. | + | To coordinate the access of multiple AGVs to the shared resources, such as intersection, we are currently developing an <color #ed1c24>**open-source, platform-independent, and vendor-independent AGV control system (ACS)**</color> which has been actually deployed in a factory of [[https://www.swhitech.com |Sungwoo HiTech]] from December 2023. |
| - | The hardware abstraction layer (HAL) of our ACS mitigates the protocol inconsistency over multi-vendor AGVs, and provide the unified protocol interface to the core modules of our ACS system. The video (2 X speed) below shows that our ACS can successfully coordinate the simultaneous access of [[https://www.meidensha.com/products/logistics/prod_01/index.html | Meidensha]] and [[https://www.aiki-tcs.co.jp/carrybee?lang=en | Aichi CarryBee]] AGVs at the intersection: | + | The <color #ed1c24>**AGV abstraction layer (AAL)**</color> of our ACS mitigates the protocol inconsistency over multi-vendor AGVs, and provide the unified protocol interface to the core modules of our ACS system. The video (2 X speed) below shows that our ACS can successfully coordinate the simultaneous access of [[https://www.meidensha.com/products/logistics/prod_01/index.html | Meidensha]] and [[https://www.aiki-tcs.co.jp/carrybee?lang=en | Aichi CarryBee]] AGVs at the intersection: |
| {{ :Introduction:agv_final.mp4?960x540 | ACS Traffic Coodination}} | {{ :Introduction:agv_final.mp4?960x540 | ACS Traffic Coodination}} | ||
| + | |||
| + | == ACS Deployment at Sungwoo HiTech == | ||
| + | Our ACS has been successfully deployed at a new production line of Sungwoo HiTech's Seo-Chang factory in December 2023. The ACS efficiently manages the flow of AGVs at intersections, optimizing scheduling and dispatching through integration with Sungwoo HiTech's Manufacturing Execution System (MES). | ||
| + | {{ :Introduction:acs_seochang_factory.mp4?960x540 |ACS @ Seo-Chang}} | ||
| === Non-Destructive In-Line Inspection for Smart Infrastructure === | === Non-Destructive In-Line Inspection for Smart Infrastructure === | ||
