1. Self navigating vehicle
Project Status May 4th 2006
Self navigating vehicle
Martin Ramballe Hansen,
Jakob Venning,

2. Agenda Purpose System overview Obstacle / Obstacle Detection
The main core
Summary / Status

3. Purpuse Primary Secondary Identify key components System presentation
Requirement verification

4. Overview

5. Obstacle Detection Obstacles is: Other cars Side of the road people …
Etc.

6. Obstacle Detection 8: class ObstacleDetectionEngine 21: ... 22:
21: ...
22:
23: operations
24: public GetAllObstacle : nat ==> set of Obstacle
25: GetAllObstacle(range) ==
26: return dunion{s.GetObstacles(range) | s in set sensors}
27: post forall s in set sensors &
28: forall o in set s.GetObstacles(range) & o in set RESULT
29:
30: end ObstacleDetectionEngine

7. The Core postcondition: enable = false or position = destination
38: public Run: () ==> ()
39: Run() ==
40: while ((enabled = true) and
(positionDetectionEngine.GetPosition() <> rutePlanerEngine.GetEndPoint()))
45: do(
48: CalculateCarParameters(
49: obstacleDetectionEngine.GetAllObstacle(50),
50: rutePlanerEngine.GetRute(),
51: traficRuleEngine.getTraficRules(positionDetectionEngine.GetPosition()),
52: positionDetectionEngine.GetPosition());
53:
54: carControl.setTurnDegree(trunDegree);
55: carControl.setSpeed(speed);
56: );
postcondition: enable = false or position = destination

8. Summary / Status Purpose is to identify key components
Position detection
Obstacle detection
Route planning
Logic for deciding car control parameters
Not yet any timing
Many operations: is not yet specified

9. Quote When you are a Bear of Very Little Brain, and
you Think of Things,
you sometimes find that
a Thing which seemed very Thingish inside
you is quite different when it gets out into
the open and has other people looking at it.
A.A.Milne