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

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

Sep 17, 2022 226 likes •485 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

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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

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What is this project?

Open Platform for Autonomous VEhicleS (O’PAVES)

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Video demo!

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Autonomous vehicle competitions 1/2

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Autonomous vehicle competitions 2/2

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Advanced Driver Assistance System

Auto-Pilot ADAS Vehicle O’PAVES

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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

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Hardware

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Hardware Requirements

  • Capable of addressing the classical autonomous vehicle

challenges

  • Lane following
  • Collision avoidance
  • Autonomous parking
  • Affordable
  • Easy to buy and/or build

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Components MCU Bluetooth Motor(s) Steering IMU Range (x5) Power Battery

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PCB Frame

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3D Printed Parts

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First Prototype

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First prototype vs requirements

  • Capable of addressing the challenges - YES
  • Affordable - YES
  • Easy to buy and/or build - Not really. . .

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New Version

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New Version

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Open-Source Hardware

  • Released under the CERN Open Hardware License
  • Designed with open-source software:
  • KiCad
  • FreeCAD
  • Repository: https://github.com/AdaCore/OPAVES

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Software

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Software Architecture

Pilot Communication Shared values and parameters database ADAS Control Steering Motors Collision Prediction? SLAM? Sensors Acquisition Sensors

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Auto-pilot interface

Insert your auto-pilot here Communication Sensor Data Vehicle Satus SLAM? Pilot Commands

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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)

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Costs

PCB (by 10) ~$50 Misc Components ~$110 Crazyflie 2.0 $180 Total ~$3801

1That’s less than a Tesla

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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

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Follow the project on:

  • GitHub: github.com/AdaCore/OPAVES
  • Hackaday: hackaday.io/project/17555-opaves
  • Twitter: @OpenPAVES

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