Robotaxi Summon (GEM)

Overview

Summon a full-scale GEM vehicle to a GPS coordinate via phone. The car must exit a parking spot, follow lanes autonomously, avoid obstacles, and stop within 2 m of the target.

Objectives

Your system will be evaluated on the following criteria:

Detect the drivable region (lane following)
Generate waypoints to the destination location
Ensure the car stays in the drivable region for the entire journey
Stop completely and automatically when an obstacle or stop sign is detected
Resume automatically once the obstacle is removed
Stop within 2 m of the goal

System Modules

Your implementation should cover the following modules:

GPS coordinate receiver — receives a target GPS location from a phone app (provided)
Path planner — decides how to enter the lane (heading south, north, etc.) and routes to the destination
Park-to-drive controller — takes the car out of the parking spot
Camera-based lane-following controller — lateral and longitudinal control; follows the planned path with possible stops
Obstacle detector & distance estimator — detects stop signs and traffic cones and estimates their distance

Milestones

#	Time	Milestone	Description
1	First review	Setup	Setup simulator and become familiar with it.
2		Simulation	Develop and test all software modules in the GEM simulator
3		Lane following (IRL)	Integrate and test the lane-following controller on the physical vehicle
4		Park-to-drive (IRL)	Integrate and test the park-to-drive and lane-following controllers for one initial parking spot
5		Full system (IRL)	Integrate and test the complete system with stop signs/traffic cones for all initial parking locations
6	Final presentation	Product launch	Final demo at the end of the semester and launch project site
## Bonus Points

Drive around an obstacle while staying inside the drivable region
Start or end at a parking spot
Stop at a stop sign or in response to brake lights

Primary Mentor

Fatemeh and Will