Building a self-driving RC car @ Devoxx UK 2018

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Tim van Eijndhoven organized a RoboRace challenge involving 4 teams building self-driving RC cars using Raspberry Pi computers and OpenCV computer vision software. The document outlines the challenge rules and describes Tim's team's process of designing their car's hardware platform, connecting sensors like cameras, controlling servos with PWM signals, and developing lane detection and navigation software in Vert.x and Java. It discusses the team's expectations and realities in testing, and ideas for improving safety and ethics in autonomous vehicles.

Tim van Eijndhoven
@TimvEijndhoven
Building a self-driving RC car

@bjschrijver@TimvEijndhoven
Let’s meet
Tim van Eijndhoven

@bjschrijver@TimvEijndhoven
Let’s meet
Bert Jan Schrijver

@TimvEijndhoven
The rules
• 4 teams
• Each team gets:
• RC car kit
• Fixed budget (150 euro)
• Three races:
1. drag race (start, drive, stop)
2. race track (race 1 + corners)
3. destruction derby ;-) (race 2 with multiple cars on same track)

@TimvEijndhoven
Vert.x
• Toolkit for building reactive applications on the JVM
• Event-driven, non-blocking
• General purpose application framework
• Why Vert.x for our project?
• Lightweight, fast
• Polyglot
• Distributed eventbus (browser included!)
• Building microservices with Vert.x: https://youtu.be/yLg-LPSRjho

@TimvEijndhoven
GPIO
• General purpose input/output

@TimvEijndhoven
Speaking the same language

@TimvEijndhoven
PWM
• Pulse-width modulation, repeating pulses of variable width
• ServoBlaster: https://github.com/richardghirst/PiBits/tree/
master/ServoBlaster

@TimvEijndhoven
RPi Cam Web Interface
• Web interface for the Raspberry Pi Camera module
• Video streaming
• Web interface to conﬁgure video settings 
https://github.com/silvanmelchior/RPi_Cam_Web_Interface

@TimvEijndhoven
OpenCV
• Open source computer vision and machine learning library
written in C++ with Java interfaces
• Optimised algorithms for computer vision
• Most widely used computer vision library
• Many resources available

@TimvEijndhoven
1: Canny edge detection 2: Probabilistic Hough Line Transform
3: Filter group and average lines 4: Determine lane center

@TimvEijndhoven
Boars Nest (Laptop) Duke Farm (Car)
Daisy
Luke
Bo
Servoblaster
Boss
Hogg
Roscoe
Flash
GeneralLee
Heartbeat
Manual inputs
Steering / Speed
instructions
Start/Stop
autopilot
Image feed
Angle &
Distance
Intermediate
CV images

@TimvEijndhoven
Examples of safety measures
• Geographic area limitation
• Strictly deﬁned conditions
• Redundancy
• Multiple sensors
• Isolating control systems
• Human intervention fallback

@TimvEijndhoven
http://moralmachine.mit.edu

@TimvEijndhoven
“In hazardous situations that prove to be
unavoidable, despite all technological
precautions being taken, the protection
of human life enjoys top priority in a
balancing of legally protected interests.”

@TimvEijndhoven
“In the event of unavoidable accident
situations, any distinction based on
personal features (age, gender, physical
or mental constitution) is strictly
prohibited.”

@TimvEijndhoven
Future improvements
• Improve detection and navigation of curved lanes
• Optimize line detection algorithm using sliding window
• Automatic (re)calibration of:
• Video parameters
• OpenCV parameters
• Add Flight recorder to enable replay and debug
• Control servos directly from Java
• Use AI for navigation
• Optimize for running everything on the car

Thanks for your time.
Got feedback? Tweet it!
All pictures belong
to their respective
authors
https://github.com/rc-dukes
@TimvEijndhoven

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Building a self-driving RC car @ Devoxx UK 2018

1. Tim van Eijndhoven @TimvEijndhoven Building a self-driving RC car

2. @bjschrijver@TimvEijndhoven Let’s meet Tim van Eijndhoven

3. @bjschrijver@TimvEijndhoven Let’s meet Bert Jan Schrijver

4. @TimvEijndhoven How it all started…

5. @TimvEijndhoven RoboRace challenge

6. @TimvEijndhoven The rules • 4 teams • Each team gets: • RC car kit • Fixed budget (150 euro) • Three races: 1. drag race (start, drive, stop) 2. race track (race 1 + corners) 3. destruction derby ;-) (race 2 with multiple cars on same track)

7. @TimvEijndhoven The kit

8. @TimvEijndhoven The brain

9. @TimvEijndhoven The platform

10. @TimvEijndhoven Vert.x • Toolkit for building reactive applications on the JVM • Event-driven, non-blocking • General purpose application framework • Why Vert.x for our project? • Lightweight, fast • Polyglot • Distributed eventbus (browser included!) • Building microservices with Vert.x: https://youtu.be/yLg-LPSRjho

11. @TimvEijndhoven Connecting the dots

12. @TimvEijndhoven GPIO • General purpose input/output

13. @TimvEijndhoven Speaking the same language

14. @TimvEijndhoven PWM • Pulse-width modulation, repeating pulses of variable width • ServoBlaster: https://github.com/richardghirst/PiBits/tree/ master/ServoBlaster

15. @TimvEijndhoven Staying safe

16. @TimvEijndhoven Getting visual

17. @TimvEijndhoven RPi Cam Web Interface • Web interface for the Raspberry Pi Camera module • Video streaming • Web interface to conﬁgure video settings  https://github.com/silvanmelchior/RPi_Cam_Web_Interface

18. @TimvEijndhoven Ready for the road

19. @TimvEijndhoven Putting stuff together

20. @TimvEijndhoven Learning to drive

21. @TimvEijndhoven OpenCV • Open source computer vision and machine learning library written in C++ with Java interfaces • Optimised algorithms for computer vision • Most widely used computer vision library • Many resources available

22. @TimvEijndhoven 1: Canny edge detection 2: Probabilistic Hough Line Transform 3: Filter group and average lines 4: Determine lane center

23. @TimvEijndhoven Show m e som e code

24. @TimvEijndhoven Boars Nest (Laptop) Duke Farm (Car) Daisy Luke Bo Servoblaster Boss Hogg Roscoe Flash GeneralLee Heartbeat Manual inputs Steering / Speed instructions Start/Stop autopilot Image feed Angle & Distance Intermediate CV images

25. @TimvEijndhoven Expectation

26. @TimvEijndhoven Reality

32. @TimvEijndhoven Let’s race!

33. @TimvEijndhoven

34. @TimvEijndhoven

35. @TimvEijndhoven In the real w orld

41. @TimvEijndhoven Examples of safety measures • Geographic area limitation • Strictly deﬁned conditions • Redundancy • Multiple sensors • Isolating control systems • Human intervention fallback

42. @TimvEijndhoven Ethics

43. @TimvEijndhoven http://moralmachine.mit.edu

44. @TimvEijndhoven http://moralmachine.mit.edu

45. @TimvEijndhoven “In hazardous situations that prove to be unavoidable, despite all technological precautions being taken, the protection of human life enjoys top priority in a balancing of legally protected interests.”

46. @TimvEijndhoven “In the event of unavoidable accident situations, any distinction based on personal features (age, gender, physical or mental constitution) is strictly prohibited.”

47. @TimvEijndhoven Future improvements • Improve detection and navigation of curved lanes • Optimize line detection algorithm using sliding window • Automatic (re)calibration of: • Video parameters • OpenCV parameters • Add Flight recorder to enable replay and debug • Control servos directly from Java • Use AI for navigation • Optimize for running everything on the car

48. Questions? @TimvEijndhoven

49. Thanks for your time. Got feedback? Tweet it! All pictures belong to their respective authors https://github.com/rc-dukes @TimvEijndhoven

Building a self-driving RC car @ Devoxx UK 2018

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Building a self-driving RC car @ Devoxx UK 2018