OPAVES An open platform for autonomous vehicle tinkerers Fabien - PowerPoint PPT Presentation

Sep 17, 2022 •226 likes •482 views

OPAVES An open platform for autonomous vehicle tinkerers Fabien Chouteau Embedded Software Engineer at AdaCore Twitter : @DesChips GitHub : Fabien-Chouteau Hackaday.io: Fabien.C 1 What is this project? Open Platform for Autonomous

O’PAVES An open platform for autonomous vehicle tinkerers Fabien Chouteau Embedded Software Engineer at AdaCore Twitter : @DesChips GitHub : Fabien-Chouteau Hackaday.io: Fabien.C 1
What is this project? Open Platform for Autonomous VEhicleS (O’PAVES) 2
Video demo! 3
Autonomous vehicle competitions 1/2 4
Autonomous vehicle competitions 2/2 5
Advanced Driver Assistance System Auto-Pilot O’PAVES ADAS Vehicle 6
For whom? • O’PAVES as a prototyping platform: • Students • Researchers • Hobbyists/Hackers/Makers • OPAVES as an AdaCore tool demonstrator: • Customers and prospects • Trade shows visitor 7
Hardware 8
Hardware Requirements • Capable of addressing the classical autonomous vehicle challenges • Lane following • Collision avoidance • Autonomous parking • Affordable • Easy to buy and/or build 9
Components Bluetooth MCU Steering IMU Motor(s) Range (x5) Power Battery 10
PCB Frame 11
3D Printed Parts 12
First Prototype 13
First prototype vs requirements • Capable of addressing the challenges - YES • Affordable - YES • Easy to buy and/or build - Not really. . . 14
New Version 15
New Version 16
Open-Source Hardware • Released under the CERN Open Hardware License • Designed with open-source software: • KiCad • FreeCAD • Repository: https://github.com/AdaCore/OPAVES 17
Software 18
Software Architecture Shared values Collision Pilot and parameters Prediction? database Communication ADAS SLAM? Sensors Control Sensors Acquisition Steering Motors 19
Auto-pilot interface Insert your auto-pilot here Pilot Commands Sensor Vehicle Data Satus SLAM? Communication 20
Tools and libraries • Ada and SPARK: programming languages • Ada_Drivers_Library: Drivers for micro-controllers • Certyflie: Flight controller written in Ada and SPARK • GNATprove: Formal proof of the the SPARK code • GNATcoverage: Source coverage analysis (up to MCDC) 21
Costs PCB (by 10) ~$50 Misc Components ~$110 Crazyflie 2.0 $180 ~$380 1 Total 1 That’s less than a Tesla 22
Fork it, Build it, Use it, Improve it Build it and make your own autonomous car! Potential improvements: • Hardware • Encoders on the motors • Change the PCB to make it compatible with your favorite dev board • Software • Active differential • Actually use the sensors available 23
Follow the project on: • GitHub: github.com/AdaCore/OPAVES • Hackaday: hackaday.io/project/17555-opaves • Twitter: @OpenPAVES 24

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