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Project # 9
Full Self Driving Car
| Team Lead: | Rikkin Panchal |
| Other Team Members: | |
| Faculty Advisor(s): | H. Eric Tseng |
| Department: | EE |
| Project Type: | Graduate Student |
| Title: | Full Self Driving Car |
| Abstract: | We developed a 1/10-scale full self-driving research vehicle that demonstrates a full autonomous driving stack from perception to control. The system builds both 2D and 3D representations of its surroundings for situational awareness and navigation, enabling reliable operation in structured environments. It detects lane boundaries and traffic signs, follows driving rules, and estimates the vehicle’s lateral position within the lane for safe and smooth driving. With the awareness of its surroundings, the vehicle performs path planning and generates maneuver decisions and trajectories such as lane following, speed adjustment, and lane-changes based on the environment conditions. A control pipeline converts the planned trajectory to steering and speed commands, ensuring smooth motion and trajectory tracking. The platform is designed with safety in mind by incorporating constraint-aware decision-making that prioritizes collision avoidance, rule compliance, and conservative behavior, and its perception system is uncertainty-aware. It also incorporates iterative learning and adaptation to support improvement of driving behavior over time under constraints. Updated strategies are verified through driving-data replay and simulation to assess robustness before deployment. Overall, we developed a full-stack scaled autonomous vehicle platform for studying and addressing key self-driving challenges. |
| Poster: | View Poster #9 (PDF) |
| Judges Scoring: | Submit Evaluation (judges only) |