由于个人科研方向原因(转robotic manipulation去了),这个课程将不再更新。
哪位朋友如果有打算写该课程的后续部分,可以联系我一起整合一下。
Part1: Introduction to Self-Driving Cars(自动驾驶介绍)
Module1: The Requirements for Autonomy(自动驾驶的要求)
P1_M1_L1 Taxonomy of Driving(自动驾驶分类)
P1_M1_L2 Requirements for Perception(感知的要求)
P1_M1_L3 Driving Decisions and Actions(驾驶决策和行为)
Module2: Self Driving Hardware and Software Architectures(自动驾驶的硬件和软件架构)
P1_M2_L1 Sensors and Computing Hardware(传感器和运算的硬件)
P1_M2_L2 Hardware Configuration Design(设计硬件配置)
P1_M2_L3 Software Architecture(软件构架)
P1_M2_L4 Environment Representation(环境表示)
Module3: Safety Assurance for Autonomous Vehicles(自动驾驶车辆的安全保障性)
P1_M3_L1 Safety Assurance for Self Driving(自动驾驶的安全保证)
P1_M3_L2 Industry Methods for Safety Assurance and Testing(业界用于测试和确保安全的方法)
P1_M3_L3 Safety Frameworks for Self Driving(自动驾驶安全框架)
Module4: Vehicle Dynamic Modeling(车辆动力学建模)
P1_M4_L1 Kinematic Modeling in 2D(2D运动学模型)
P1_M4_L2 The Kinematic Single-Track Model(单轨运动学模型)
P1_M4_L3 Basic Dynamic Modeling in 2D(基本的2D动力学模型)
P1_M4_L4 Longitudinal Vehicle Model(车辆纵向动力学建模)
P1_M4_L5 Lateral Dynamic Bicycle Model(自行车模型的横向动力学建模)
P1_M4_L6 Vehicle Actuation(车辆驱动)
Module5: Vehicle Longitudinal Control(车辆纵向控制)
P1_M5_L1 Proportional-Integral-Derivative(PID) Control(比例-积分-微分:PID控制)
P1_M5_L2 Longitudinal Speed Control with PID(用PID控制纵向速度)
P1_M5_L2 Feedforward Speed Control(前馈速度速度)
Module6: Vehicle Lateral Control(车辆横向控制)
Module7: Putting it all together(综合使用以上内容)
Part2: State Estimation and Localization for Self-Driving Cars(状态估计和定位)
Module1: Least Squares(最小平方)
Module2: State Estimation-Linear and Nonlinear Kalman Filters(状态估计之线性和非线性卡尔曼滤波器)
Module3: GNSS-INS Sensing for Pose Estimation(用于姿态估计的GNSS-INS感知)
Module4: LIDAR Sensing(雷达感知)
Module5: Putting It together(整合)
Part3: Visual Perception for Self-Driving Cars(视觉感知)
Module1: Basics of 3D Computer Vision(3D计算机视觉基础)
Module2: Visual Features-Detection Description and Matching(视觉特征的检测、描述和匹配)
Module3: Feedforward Neural Networks(前向神经网络)
Module4: 2D Object Detection(2D目标检测)
Module5: Semantic Segmentation(语义分割)
Module6: Putting It together(整合)
Part4: Motion Planning for Self-Driving Cars(运动规划)
Module1: The Planning Problem(规划问题)
Module2: Mapping for Planning(建图以进行规划)
Module3: Mission Planning in Driving Environments(驾驶环境中进行任务规划)
Module4: Dynamic Object Interactions(与动态物体的交互)
Module5: Principles of Behaviour Planning(行为规划的法则)
Module6: Reactive Planning in Static Environments(静态环境中进行反应性规划)