R&D

TalTech iseAuto v2.0

ISEAUTO v1

Technical parameters

  • 4 istekohta + 2 seisukohta
  • Kiirus tüüpiliselt 10 km/h, max 50 km/h
  • Turning radius 9 m
  • Main motor 47 kW
  • Battery 16 kWh
  • Tühimass: 1250 Kg

Gabariidid (koos lidaritega):

  • Kõrgus 2,4 m
  • Pikkus 3,6 m
  • Width 1500 mm
  • Telgedevahe 2,55 m

Sensors:

  • Peamised lidarid Velodyne x 2
  • Küljelidarid 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.ai

System architecture

Research papers

  • Sell, R.; Soe, R.-M.; Wang, R.; Rassõlkin, A. (2021). Autonomous Vehicle Shuttle in Smart City Testbed. In: Zachäus C., Meyer G. (Ed.). Intelligent System Solutions for Auto Mobility and Beyond (143−157). Springer, Cham. (Lecture Notes in Mobility). DOI: 10.1007/978-3-030-65871-7_11.
  • Bellone, M.; Ismailogullari, A.; Müür, J.; Nissin, O.; Sell, R.; Soe, R.-M. (2021). Autonomous driving in the real-world: The weather challenge in the Sohjoa Baltic project. In: Hamid, U. Z. A., Al-Turjman, F. (Ed.). Towards Connected and Autonomous Vehicle Highways (229−255). Switzerland: Springer International Publishing. (EAI/Springer Innovations in Communication and Computing). DOI: 10.1007/978-3-030-66042-0.
  • Malayjerdi, M.; Baykara, B. C.; Sell, R.; Malayjerdi, E. (2021). Safety Assessment and Simulation of Autonomous Vehicle in Urban Environments. IOP Conference Series Materials Science and Engineering, 1140 (1), #012032. DOI: 10.1088/1757-899X/1140/1/012032.
  • Kalda, K.; Sell, R.; Soe, R.-M. (2021). Self-driving Shuttle Bus Use Case in City of Tallinn. IOP Conference Series Materials Science and Engineering, 1140 (1), 012047. DOI: 10.1088/1757-899X/1140/1/012047.
  • 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

Doktoritööd

  • 2022 Urban mobility and self-driving vehicles in smart city, Ehsan Malayjerdi

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
  • 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