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Oct 28, 2015, 09:50 PM
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Autonomous driving day 2

Autonomous driving day 2 (4 min 9 sec)

Activated the lane following code, extending the successful runs but revealing all new problems. Lane following was a simple 2nd proportional feedback added to the vanishing point feedback. There was no rate damping. This kept it going down the path, but it still drifted anywhere from the center to the right side. This also revealed just how bad machine vision was at handling shadows.

It suffered a positive feedback not evident in simulations. A shadow would send it off course, which worsened the wrongly detected path, while the simulation always drove past the wrongly detected path. This was a deal breaker.

Did some 10mph runs with it. This revealed an underdamped oscillation. It didn't take long for it to stray off the path, even in the best vision conditions. Only a rare coincidence kept it on the path. It seemed to oscillate around the lane keeping feedback.

The autonomous driving ended after a 10mph run, when it flipped over, smashed the camera & crashed the computer. So even ground vehicles experience crash damage. The computer lost the last 2 minutes of video.

It's surprising just how accurate the machine vision has to be, compared to what intuitively should be enough. If only there was a way to determine how good the current data was & construct longer term feedback using just the good data. The computer adjusts heading 30 times a second, relying on a large number of data points to drown out the outliers & reveal a true heading. A human only needs to adjust heading every few seconds, with a single very good heading.
Last edited by Jack Crossfire; Oct 29, 2015 at 10:10 PM.
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