Tan Chin Hiong
• Three main control components– Sensor fusion– Speed regulation– Steering direction
Sensor fusion
• Merge 2 main field sensors– TrackEdgeSensors (19 inputs)– OpponentSensors (18 inputs)– Main idea: find the nearest obstacle in visual field
• For inputs 0 to 8– CombinedSensor(i) =
min(TrackEdgeSensors(i),OpponentSensors(i))• For input 9 (front sensor)
– CombinedSensor(9) = min(TrackEdgeSensors(9),OpponentSensors(8),OpponentSensors(9))
• For inputs 10 to 18– CombinedSensor(i) =
min(TrackEdgeSensors(i),OpponentSensors(i-1))
Sensor fusion
• Find the largest free distance from CombinedSensor– LargestFreeDistance– LFDAngle
Speed regulation
• If {no obstacle directly in front} AND {car is aligned to track axis}– TargetSpeed = 249.88 (evolved)
• Else– TargetSpeed = 0.27 (evolved) *
CombinedSensor(9) (front) + 1.94 (evolved) * LargestFreeDistance
Steering direction
• Always move in the direction of the largest free distance
• Exception:– If LargestFreeDistance == 100
• Align car to middle of the road