These advanced tutorials cover topics which require the integration of multiple modules, such as planning, mapping, perception, and building custom DNN layers.
They also include more in-depth tutorials on several topics already covered in the previous sections, including
integrating custom sensors, calibration, and image processing.
| Tutorial | Description |
|---|---|
| Data Conditioner Workflow | Formatting your data. |
| DNN Workflow | The DriveWorks DNN framework. |
| Clusterer Workflow | A DBSCAN implementation. |
| DriveNet Workflow | A deep neural network trained for object detection. |
| OpenRoadNet Workflow | A deep neural network trained for freespace detection. |
| MapNet Workflow | A deep neural network trained for landmark detection. |
| PathNet Workflow | A deep neural network trained for path detection. |
| PilotNet Workflow | A deep neural network trained for predicting paths for maneuvers. |
| SignNet Workflow | A deep neural network trained for traffic sign classification. |
| LightNet Workflow | A deep neural network trained for traffic light classification. |
| ClearSightNet Workflow | A deep neural network trained for camera occlusion detection. |
Modules used: DNN | Data Conditioner | Clusterer | DriveNet | OpenRoadNet | MapNet | PathNet | SignNet | LightNet | PathNet
ClearSightNet.
| Tutorial | Description |
|---|---|
| Object Detector | Object detection with DriveNet. |
| Landmark Detector Regressor Init Workflow | Landmark detection with regressor-based MapNet. |
| Landmark Detector Segmentation Init Workflow | Landmark detection with segmentation-based MapNet. |
| Freespace Perception Workflow | Freespace detection with OpenRoadNet. |
| Path Perception Workflow | Path detection with PathNet. |
| LigthSourceDetector Workflow | Night-time and low-light active light source perception with LightSourceDetector. |
| Auto Headlight Controller API usage | Camera based headlight/Low-Beam control. |
| Wait Conditions Classification Workflow for Traffic Lights | Traffic light classifcation with LightNet. |
| Wait Conditions Classification Workflow for Traffic Signs | Traffic sign classifcation with SignNet. |
| Wait Conditions Detector Workflow | Wait conditions classifcation with WaitNet. |
| Wait Conditions Detector with Temporal Analysis Workflow | Wait Conditions Detection with Temporal Analysis. |
Modules used: Object Detector | Landmark Perception | Freespace Perception | Path Perception | Wait Conditions Detection and Classification
| Tutorial | Description |
|---|---|
| Map Provider Initialization | How to load a map file into memory. |
| Map Request | How to serialize map data to binary or XML format. |
| Map Query | How to extract information from map data. |
| Map Tracker | How to select the lane that corresponds to a trajectory. |
| Lane Tree | How roads are represented in DriveWorks. |
| Lane Tree Helper Functions | A collection of utilities to change coordinate space and more. |
| Importing Custom Maps Data | How to import custom map data to be used with DriveWorks. |
| Maps Renderer | A collection of utilities to easily draw map data. |
| Camera Localization | How to localize the rig to HD map using camera data. |
Modules used: Maps | Renderer | Localization.
| Tutorial | Description |
|---|---|
| Initialization | How to initialize a lane planner from a map handler. |
| Lane Planning | How to create a lane plan. |
| Lane Plan | How lane plans are represented in DriveWorks. |
| Cost Function | How to customize the cost function. |
| Lane Plan Tracker | How to track the current position on a plan. |
| Lane Plan Events | Lane changes, lane splits and lane merges. |
| Helper Functions | A collection of utilities. |
| Safety Force Field Workflow | How to use Safety Force Field module. |
| Safety Force Field Actuation Workflow | How to use Safety Force Field Actuation module. |
Modules used: Lane Planner | Safety Force Field.
| Tutorial | Description |
|---|---|
| Integrating with Custom Board | How to use cameras on custom boards. |
| Custom Lidars (Decoder Only) | How to integrate Custom Lidars. |
| Custom Lidars (Comprehensive) | How to integrate Custom Lidars. |
| Custom Radars (Decoder Only) | How to integrate Custom Radars. |
| Custom Radars (Comprehensive) | How to integrate Custom Radars. |
| Custom IMUs (Comprehensive) | How to integrate Custom IMUs. |
| Custom GPSs (Comprehensive) | How to integrate Custom GPSs. |
| Custom CANs (Comprehensive) | How to integrate Custom CANs. |
| Custom Cameras (SIPL) | How to integrate Custom Cameras. |
| DNN Plugins | How to implement custom DNN layers. |
| VehicleIO Plugins | How to implement custom drive-by-wire abstractions. |