Capture CSI image, LIDAR and depth dataimageRGBcaptureCSI

newimageDepth [360 x 640]captureDepth

User InterfacelaneSelectorArm/DisarmSpeed Des(m/s)userInput

1. Color threshold the CSI image and fit a linear polynomial in the binary. 2. Mask the binary onto the original CSI image to display the lane.imageRGBlaneSelectorlookupRowimageSize

colorThresholdingHSVimageRGBimageBinary

steeringCalculationimageBinaryimageSizelookupRowimageRGBlaneSelectorimageRGBForDisplaysteering (rad)Display RGB

obstacleDetectionimageDepthsteering (rad)Desired Stoping DistanceMinDistanceMaxDistancedistance (m)Display Depth

automatedDrivingobstacleDistance (m)steering (rad)nominalSpeed (m/s)systemCommand (m/s, rad) [2]

turnSpeedHandlingsystemCommand (m/s, rad) [2]enabledesiredSpeed (m/s)steering (rad)

speedControllerarm (0,1)desiredSpeed (m/s)measuredSpeed (m/s)throttleCmd (%)

indicatorAndLampsmotorCmd (%, rad) [2]indicatorsAndLamps (%) [8]

basicQCarIOmotorCmd (%, rad) [2]motorCurrent (A) [1]batteryVoltage (V) [1]indicatorAndLamps (bool) [8]motorSpeed (counts/s) [1]

basicSpeedEstimationlongitudinalCarSpeed (m/s)motorSpeed (counts/s)

Monitor Timing for 600Hz, 120Hz and 100Hz loops

sampleTime (s) computationTime (s) monitorTiming

sampleTime (s) computationTime (s) monitorTiming 1

sampleTime (s) computationTime (s) monitorTiming 2

QUARC

test