ARGO: Autonomous vehicle based on Linux
Aug 24, 1999, 01:24 UTC (2 Talkbacks)
[ Thanks to Valter Mazzola for this report. ]
Vehicle: Lancia Thema 2000
Low cost commercial black/white cameras,
f=6.0mm, 360 lines
Trinocular acquisition system (acquires
three images with a resolution of 786 x 576
pixels, 8bit/pixel, graylevel)
Odometer, Hall effect
PC Pentium MMX, 200MHz, 32 MegaBytes
RAM, Linux operating system
Analog/Digital I/O board
Led-based control panel: it includes 8 leds
that show the relative position of the vehicle
with respect to the lane, 8 leds that encode
the selected functionality and a few driving
parameters, and 6 push buttons that allow
the user to tune the parameters and to select
the working functionality
On board 6'' color monitor that lets the
passengers control the progression of the
driving
Inverter generating 220V @ 50Hz: the
power supply for the internal equipments
Electric engine on the steering column to
allow the vehicle driving autonomously
Joystick for emergency situations: in case of
emergency the driver can grab the joystick
and take the control of the steering wheel
Pedal for emergency situations: in case of
emergency the driver can press a pedal
(near the clutch) and take the control of the
vehicle
Stereo speakers that are used by the system
to give warnings to the passengers
In the first week of June 1998, this vehicle was
demonstrated to the public and to the research
community thanks to a 2000 km tour throughout
Italy during which the vehicle drove itself
autonomously.
Developed at the
Department of Information Technology
(Dipartimento di Ingegneria dell'Informazione),
University of Parma, PARMA, Italy, under the
frame of the Progetto Finalizzato Trasporti 2
(directed by Prof. L.Bianco), of the CNR, Italian
National Research Council.
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