This semester, our team aimed to achieve all system-level requirements, allowing for some flexibility. Our goal was to achieve all of the desired requirements with a lenient view on some of the parameters. For example our desired FPS was 30hz but we were able to achieve around 20-22 FPS. A detailed list of our targeted requirements is given in table 5.
| Targeted Performance Requirements | |||
| PR ID | Requirement | Subsystem | Status |
| PR1 | Update Frequency of 10 hz | Perception | Passed |
| PR2 | Successful parking is detected: 80% | Perception | Passed |
| PR3 | Stationary tolerance: Y: 士5 cm; X: 士10 cm; Rotational 士20; Degrees | Controls | Passed |
| PR4 | Vehicle speed should be around 10 cm/s | Controls | Passed |
| PR5 | Safety Tolerance: 10 cm | Controls | Passed |
Overall System Description
The comprehensive system encompasses our sensor suite, consisting of off-board infrastructure cameras and on-board proximity sensors, alongside the G29 controller. Our software stack comprises several subsystems operating collaboratively. The data processing and Bird’s Eye View (BEV) generation pipeline is tasked with delivering a precise and responsive BEV. Simultaneously, the controls pipeline captures user inputs and channels them through a safety mechanism before implementation. The UI/UX module serves as the integration hub, providing users with an accurate visualization enriched with advanced visual overlays for teleoperation. Figure 1 depicts the overall flow of the system.
Figure 1: System OverviewSVD