Self Driving Car Prototype

By Anjana
Introduction
In the modern era, the vehicles are focused to be automated to give human driver
relaxed driving. In the field of automobile various aspects have been considered
which makes a vehicle automated. Google, the biggest network has started working
on the self-driving cars since 2010 and still developing new changes to give a
whole new level to the automated vehicles. An autonomous vehicle, it is capable of
sensing its environment and navigating without human input. Robotic cars exist
mainly as prototypes and demonstration systems. It sense their surrounding with
such a technique as radar, GPS and computer vision .Advanced control system
interpret sensory information to identify appropriate navigation paths , as well as
obstacles and relevant signage. Some Autonomous vehicles update their maps
based on sensory input, allowing the vehicles to keep track of their position even
when conditions change or when they enter uncharted environments
History of Autonomous Vehicles
Basic Physical Ecosystem of an Autonomous Vehicle
Modules of the Projects

• Making Prototype
• Controlling the car and getting camera sensor
• Installing other sensors with prototype
• Making Reinforcement learning model
• Running Model with our prototype
• Getting time-series results
Reinforcement Learning
• Reinforcement learning (RL) is an area of machine learning
concerned with how software agents ought to take actions in
an environment in order to maximize some notion of
cumulative reward. Reinforcement learning is one of three
basic machine learning paradigms, alongside supervised
learning and unsupervised learning.
• Reinforcement learning differs from supervised learning in not
needing labelled input/output pairs be presented, and in not
needing sub-optimal actions to be explicitly corrected. Instead
the focus is on finding a balance between exploration (of
uncharted territory) and exploitation (of current knowledge).
Carla Simulator
• CARLA has been developed from the ground up to
support development, training, and validation of
autonomous driving systems. In addition to open-
source code and protocols, CARLA provides open
digital assets (urban layouts, buildings, vehicles) that
were created for this purpose and can be used freely.
The simulation platform supports flexible
specification of sensor suites, environmental
conditions, full control of all static and dynamic
actors, maps generation and much more.
Features of Carla Simulator
• Scalability via a server multi-client architecture: multiple clients in the same or in
different nodes can control different actors.
• Flexible API: CARLA exposes a powerful API that allows users to control all aspects related to the
simulation, including traffic generation, pedestrian behaviors, weathers, sensors, and much more.
• Autonomous Driving sensor suite: users can configure diverse sensor suites including
LIDARs, multiple cameras, depth sensors and GPS among others.
• Fast simulation for planning and control: this mode disables rendering to offer a fast
execution of traffic simulation and road behaviors for which graphics are not required.
• Maps generation: users can easily create their own maps following the OpenDrive standard via
tools like RoadRunner.
• Traffic scenarios simulation: our engine ScenarioRunner allows users to define and execute
different traffic situations based on modular behaviors.
• ROS integration: CARLA is provided with integration with ROS via our ROS-bridge
• Autonomous Driving baselines: we provide Autonomous Driving baselines as runnable agents in
CARLA, including an AutoWare agent and a Conditional Imitation Learning agent.
THANK YOU