Alexander KolbaiRainer BareißConnected Autonomous Driving

December 9th 2019AI-Monday, Porsche Digital

Autonomous Driving - MeetupConnected Autonomous Driving

This Meetup is for autonomous driving enthusiasts, self-driving car engineers and those who want to create a seamless connected user experience of mobility, information and services in cities.

We want to connect schools, creatives, engineers, startups, companies, politics for exchange & projects. We’re part of a growing worldwide community –

a „Homebrew computer club for autonomous mobility“

- that was started by Chris Anderson, Will Roscoe and Adam Conway: diyrobocars.com.

Rainer Bareiss Alexander Kolbai

Founded: October 2017Members: 973Meetups: 26 (22 in Stuttgart, 3 Silicon Valley, 1 Leipzig 35c3)

We‘re working together with leaders and friendsof the autonomous driving maker & startupscene and industry in

▪ Oakland▪ Berlin▪ Detroit▪ Ann Arbor▪ Shenzhen

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Connected Autonomous DrivingOur Mission

Sponsered by

Sessions, Talks, Come together Build, Train, Race and have Fun

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Last Meetup

www.meetup.com/de-DE/Connected-Autonomous-Driving

Connected Autonomous DrivingOur Events

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DiyRealRoboCarTomorrow

Connected Autonomous Drivingthe platform for tomorrows talents – the development path

DiyRoboKidCarToday

DiyRoboCarToday

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Connected Autonomous DrivingImpressions from DiyRoboCar Home Stuttgart

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Autonomous DrivingImpressions from DiyRoboCar Home Stuttgart

Background

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Connected Autonomous DrivingThe DiYRoboCar History

▪ Will Roscoe developed the software framework for the donkey-car.

▪ Python was chosen as programing language▪ The Raspberry Pi is the ideal SBC platform for a cheap and

powerful system with a very big community.▪ For the machine learning part Tensorflow a open-source

software library for dataflow programming was chosen. On top of Tensorflow the open source neural network library KERAS is used as a user-friendly framework.

▪ Adam Conway was responsible for the hardware and he build the first donkey-car.

▪ He searched for a cheap and ready to run RC model car which works together with the Raspberry Pi and a servo controller board.

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Autonomous DrivingSmall Scale AI CARS - Overview

▪ NVIDIA JetBot

▪ ...

▪ DiYRoboCar – The Original

▪ MIT RACECAR

aws.amazon.com/de/deepracermit-racecar.github.io/

▪ DUCKIETOWN

▪ AWS DEEP RACER – The Clone

github.com/NVIDIA-AI-IOT/jetbotwww.donkeycar.com www.duckietown.org

▪ NVIDIA JetBot

▪ Next Generation DIYRoboCar

Technology

Autonomous DrivingA real autonomous Car

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▪ Lidar Sensors▪ Radar Sensors▪ Cameras▪ Sound Sensors

Autonomous DrivingThe Classic DiYRoboCars - Parts

Raspberry PI

PWM Board

NVIDIA Nano

Motorboard

or

3D Printed Parts

Chassies RC Car

Autonomous DrivingParts of next generation of DiYRoboCars

GoogleCoral Board

ArduinoUNO

NVIDIA Nano

Fahrtregler

Giro Sensor

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Driving & Training Results

• Learn from a human (Behavioral cloning)

• Train DiyRoboCar in a Car Unity Simulator (Reinforcement Learning)

Autonomous DrivingTwo Methods to train a DiyRoboCar

Images + Steering+ Speed Data

http://docs.donkeycar.com/guide/simulator/

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• The drive loop records 30 pictures and json files each second. Each pictures has a matching json file with the steering and throttle values.

Autonomous DrivingTraining data (Images and Labels)

Images from theCar Camera

Labels

{"cam/image_array": "5755_cam-image_array_.jpg", "user/throttle": 0.3, "user/mode": "user", "milliseconds": 1261941, "user/angle": 0.24741355632190923}

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Autonomous DrivingThe Neural Network developed on Keras / Tensorflow

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Biased Neural Nets Negative Influence on training datas

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What a Neural Net Should Learn

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Autonomous DrivingObject Detection, Edge Detection, Line Following

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Autonomous Racing, Dec 7th 2019autonomous cars now beat fastest human

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Outlook

Rainer Bareiß

LinkedIn: https://www.linkedin.com/in/rainer-bareiss/

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Alexander Kolbai

Autonomous DrivingContact

Slack: donkeycar.slack.comGithub: https://github.com/autorope/donkeycar

LinkedIn: https://www.linkedin.com/in/g-alexander-kolbai-63173580/

Autonomous Driving

Q&A