DRIVERLESS VEHICLE

Every year a new race car comes to life representing all the hard work of a dedicated team. A race car is the perfect platform for complex and interdisciplinary engineering. Each car stand out with unique characteristics and features, all developed by engineering students at NTNU. After a car has raced at the Formula Student competitions, it is used for testing, drivers training and on numerous promotions and events. Even though Revolve NTNU has a history of taking big steps every year, there is a clear knowledge and experience transfer from one team to the next. The cars represent our legacy and we will continue our steep learning curve to design the best engineered car in the field.


Eld

Revolve NTNU decided early to join the new challenge of driverless and followed closely as the first FSD competition was held in 2017. The 20 members on the driverless team have been working hard to place Trondheim on the map of autonomous racing, resulting in a solid system based on the combination of Machine Learning and classical AI. It was Eld, our 2017 car that was chosen as our very first driverless vehicle. It now has actuators for control, an Emergency Brake System, an Nvidia Drive PX2 Auto Chauffeur for processing and severaly new sensors for the autonomous system. A Velodyne VLP-16 in the front gives us a point cloud, while two FLIR color cameras in the main hoop makes it possible to classify the cones with color and size.

We have developed two separate autonomous systems, both an end-to-end machine learning system and a full driving pipeline. For detection we use cone-detection combining LiDAR and camera with the MNIST classifier and use YOLOv3 as a redundant system. Furthermore, Eld uses a graphSLAM-variant for location and mapping, and trackfinder using triangulation and circles. Model Predictive Contouring Control with a FORCES solver is used for high-speed driving. To facilitate early testing we used a 1/7 scale Traxxas race car and Gazebo for simulation.