Category Archives: Autonomy

Vehicle Accel/Brake Calibration

Posted on 11/17/2024 by hangcui1201

Acceleration and Brake Map Calibration Raw Vehicle Command Converter Steer Offset Estimator Coming more, stay tuned for future updates! Reference Acceleration and Brake Calibration (Polaris GEM Vehicles) accel_brake_map_calibrator Raw Vehicle Command Converter (Polaris GEM Vehicles) Steer Offset Estimator (Polaris GEM … Continue reading →

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Dynamics & Control

Posted on 10/12/2024 by hangcui1201

Pure Pursuit Lateral Controller (Kinematic Bicycle Model) Stanley Lateral Controller (Kinematic Bicycle Model) LQR Tracker with Feed Forward Term (Dynamic Bicycle Model) Model Predictive Control (Dynamic Bicycle Model) Coming more, stay tuned for future updates! Reference Vehicle Bicycle Model Kinematic … Continue reading →

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Perception

Posted on 10/12/2024 by hangcui1201

Stay tuned for future updates! Top LiDAR and Front Camera Sensor Fusion Back to top of the page

Posted in Autonomy, Perception | Comments Off on Perception

ROS2 Software Stack Development

Posted on 09/24/2024 by hangcui1201

ROS2 Software Stack Development Perception Localization & Mapping (SLAM/V-SLAM) Planning Dynamics & Control ROS2 Resources ROS2 (Humble) Documentation ROS2 (Humble) Tutorials ROS2 (Humble) Demos ROS2 (Humble) Real-time Programming Autoware.Auto Resources The Autoware Foundation Autoware Documentation Autoware Documentation (Github) Autoware Universe … Continue reading →

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Sensor Calibration

Posted on 09/24/2024 by hangcui1201

Stay tuned for future detailed updates! Top LiDAR and Front Camera Data Collection and Sensor Calibration Front LiDAR and Front Camera Data Collection and Sensor Calibration Reference [1] Autoware Calibration Toolkit Manual, Link [2] Yan, Guohang, et al. “Opencalib: A … Continue reading →

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Sensor Integration

Posted on 09/24/2024 by hangcui1201

Polaris GEM e4 Electric Vehicle × Platform Actuation and Control Module 2 (PACMod2) Computing Nuvo-8108GC Computer CPU : Intel Xeon E-2278G 3.40GHz x16 GPU : NVIDIA RTX A4500 Memory : 64GB DDR4 PCIe Ethernet Card : PCIe-PoE354at 4G/LTE Internet Card … Continue reading →

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Self-Driving Car

Posted on 09/24/2024 by hangcui1201

Polaris GEM e4 Electric Self-driving Vehicle Sensor Integration Sensor Calibration Vehicle Accel/Brake Calibration ROS2 Software Stack Development Perception Localization & Mapping (SLAM/V-SLAM) Planning Dynamics & Control I led the integration of various sensors—including LiDAR, camera, GNSS/IMU, and 4D automotive radar—on … Continue reading →

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