R&D


Technical parameters

  • Cargo or passenger 4+2 places
  • Cruising speed 10-20 km/h
  • Turning radius 9 m
  • Main motor 47 kW
  • Battery 16 kWh

Dimensions:

  • Height 2400 mm
  • Length 3500 mm
  • Width 1500 mm

Sensors:

  • LiDAR Velodyne VLP-16 x 2
  • Side LiDARs x 2
  • Front safety LiDAR
  • Short distance radar
  • Front cameras x 4
  • Back camera
  • Interior camera
  • RTK-GNSS + IMU

Software:

  • Robot Operating System (ROS)
  • Autoware

The first year of the project is divided into stages and finally, we will add the technical details of the project results to the website. The purpose of technical information sharing is to raise know-how and share information created with the project with everyone interested.


System architecture

Research papers

  • Wang, R.; Sell, R.; Rassõlkin, A.; Otto, T.; Malayjerdi, E. (2020). Intelligent Functions Development on Autonomous Electric Vehicle Platform. Journal of the Machine Engineering, 20 (2), 114−125.10.36897/jme/117787.
  •  A. Rassõlkin, R. Sell, A. Kallaste, T. Vaimann, Propulsion Drive Topology Selection for Further Development of ISEAUTO Self-Driving Car, RTUCON2018
  • A. Rassõlkin, R.Sell, M. Leier, Development case study of the first estonian self-driving car, iseauto, Electrical, Control and Communication Engineering, The Journal of Riga Technical University Vol14 Is. 1
  • R. Sell, A. Rassõlkin, M. Leier, J. Ernits, Self-driving car ISEAUTO for research and education, June 2018, Conference: The 19th International Conference on Research and Education in MechatronicsAt: Delft, Holland

Thesis

Master's thesis

  • Visual localization  for Iseauto using structure from motion, Yaroslav Hrushchak
  • Telemetry on robot operating system based self-driving vehicles, Osman Firat Akandere
  • Iseauto uue alusraami väljatöötamine, Mari-Ly Klaats
  • Dünaamiliselt uuendatav 3D kaardi lahendus Iseautole, Mirjam Feodorov
  • Autonoomse sõiduki raja järgimine vabavaralise tarkvaraga Autoware, Priit Trink
  • Evaluation of multiple lidar placement on a self-driving car in Autoware, Mihkel Väli
  • Isejuhtiva auto tarkvara mudelipõhine integratsioonitestimine Autoware näitel, Lauri Roomere
  • Estimating object detection reliability for TTU “Iseauto” self-driving car, Artur Vainola
  • Madala taseme juhtkontrolleri arendus isejuhtivale sõidukile, Elvar Liiv
  • TTU self driving car master controller embeded software testing, Eslam El-Sherbieny

Bachelor's and diploma thesis 

  • Elektriauto mootori juhtsüsteemi signaalide analüüs ja otsejuhtimise võimaluste kaardistamine, Kirill Tihhonov
  • Choosing distance sensors for TUT self-driving vehicle, Maarjo Mass (EST)
  • Andmeedastuskihi loomine TTÜ isejuhtiva auto kasutajaliidese jaoks, Krista Norak

2017

  • Development and implementation of an optimal navigation system for a self-driving test car, Mohammad Tavassolian

Reports

  • LMV Pilot report, Ruxin Wang 

Stage I: Background Studies and Technical Drafting

  1. Similar projects in Europe, especially universities and public research institutes Aruanne: Sarnased projektid
  2. Sensory Drive for Enduring Vehicles Aruanne: Sensoorika
  3. Tarkvara platvormid ja moodulid isejuhtivuse saavutamiseks Aruanne: Tarkvararaamistik
  4. Artificial intelligence algorithms for self-sufficiency

Further reading and interesting references about self-driving vehicles