From ca2ef80fc353e274618d028dc89915513df9ef67 Mon Sep 17 00:00:00 2001 From: fengzongbao Date: Tue, 19 Dec 2017 16:58:32 +0800 Subject: [PATCH 1/5] * update --- data/map-Apollo.md | 55 ++++++++++++++++++---------------------------- 1 file changed, 21 insertions(+), 34 deletions(-) diff --git a/data/map-Apollo.md b/data/map-Apollo.md index 7d7fc8a6..d43dcde4 100644 --- a/data/map-Apollo.md +++ b/data/map-Apollo.md @@ -58,44 +58,35 @@ + Map Engine + Localization + Perception - - Machine Learning + - Machine Learning:CNN - 底层视觉 - 图形学与视觉几何 - 状态估计与滤波 - 最优化问题求解 - - Minimum-spanning-tree(MST) - - Learning-based CNN Detector - - Randomized Decision Forest(RDF) - - Data Synchronization - - Data Association - - Fusion + Planning - * Model - - Smoothing Curves - - Vehicle Kinematics - - Station-time 2d model - - Optimization Algorithms:Dynamic Programming - - Quadratic Programming - - Smoothing Spline - - A* - - Probability Math Models:Bayesian - - Markov Process - - MDP - - MachineLearning:CNN,RNN,ReinforcementLearning - - MotionPlanningBackground:Sampling based motion planning - - Optimization based motion planning - - ComputerScience:Parallel Programming - * Algorithm - - Forplanningfocused:basic Motion Planning Technique - - Dynamic Programming - - Computationgeometry - - Control algorithms - - 深度学习算法、BP算法 + - Smoothing Curves + - Vehicle Kinematics + - Station-time 2D model + - Optimization Algorithms:Dynamic Programming + - Quadratic Programming + - Smoothing Spline + - A* + - Probability Math Models:Bayesian + - Markov Process + - MDP + - Machine Learning:CNN,RNN,Reinforcement Learning + - Motion Planning Background:Sampling Based Motion Planning + - Optimization Based Motion Planning + - ComputerScience:Parallel Programming + - Forplanningfocused:basic Motion Planning Technique + - Dynamic Programming + - Computation Geometry + - 深度学习算法、BP算法 + Control - Basic Control Thoery - Linear-Quadratic Regulator (LQR) - Model Predictive Control(MPC) - - PID basic control theory + - PID Basic Control Theory + End-to-End * Deep learning * CV @@ -140,8 +131,4 @@ - 汽车动力学 - AUTOSAR -熟悉上车开发调试环境，清楚软件linux下调试流程； - -TODO -- Perception 层次关系@远帆 -- 提取模块CNN到基础知识 +熟悉上车开发调试环境，清楚软件linux下调试流程。 \ No newline at end of file From bbc3e167f5f679392b588f392dc1bc38143a9a72 Mon Sep 17 00:00:00 2001 From: fengzongbao Date: Tue, 19 Dec 2017 18:20:54 +0800 Subject: [PATCH 2/5] update --- data/map-Apollo.md | 28 +++++++++------------------- 1 file changed, 9 insertions(+), 19 deletions(-) diff --git a/data/map-Apollo.md b/data/map-Apollo.md index d43dcde4..b0a6c750 100644 --- a/data/map-Apollo.md +++ b/data/map-Apollo.md @@ -11,26 +11,12 @@ - Docker - ROS - OpenCV -- Doxygen -- Linux:Ubuntu ## Language - C++ - + curlpp - + civetweb - + GLEW：The OpenGL Extension Wrangler Library - + gflags - + glogs - + gtest - + Eigen - + Point Cloud Library(PCL) - Bash - Python - + Numpy - + google_styleguide -- Restful -- Websocket - Javascript + Node.js + React @@ -42,13 +28,18 @@ - Tensorflow - CUDA +## 硬件（芯片）编程 +- CPU +- GPU +- FPGA + # Apollo专属知识 ## Cloud Service Platform - HD Map + OpenDrive - Simulation - + CarSim - + Simulink + + Matlab/Simulink + + GameEngine(UE4) - Data Platform - Security - OTA @@ -97,9 +88,8 @@ ## Hardware & Sensors - Computing Unit - + CPU - + GPU - + FPGA + + PX2 + + TX2 - Perception + Camera + LiDAR From 1af66e17612aa64b3f38657356e3a91f1fa6b773 Mon Sep 17 00:00:00 2001 From: fengzongbao Date: Tue, 19 Dec 2017 19:35:51 +0800 Subject: [PATCH 3/5] * update yangfan --- data/map-Apollo.md | 37 ++++++++++++++++++++++++++----------- 1 file changed, 26 insertions(+), 11 deletions(-) diff --git a/data/map-Apollo.md b/data/map-Apollo.md index b0a6c750..8d900993 100644 --- a/data/map-Apollo.md +++ b/data/map-Apollo.md @@ -26,7 +26,11 @@ - PaddlePaddle - Caffe - Tensorflow + + - CUDA +- Keras +- Pychor ## 硬件（芯片）编程 - CPU @@ -41,16 +45,19 @@ + Matlab/Simulink + GameEngine(UE4) - Data Platform + - 虚拟化 + - 异构计算 + - 分布式计算 + - 分布式存储 - Security - OTA - DuerOS ## Open Modules -+ Map Engine + Localization + Perception - - Machine Learning:CNN - - 底层视觉 + - Deep Learning:CNN + - Low-level Vision - 图形学与视觉几何 - 状态估计与滤波 - 最优化问题求解 @@ -69,7 +76,7 @@ - Motion Planning Background:Sampling Based Motion Planning - Optimization Based Motion Planning - ComputerScience:Parallel Programming - - Forplanningfocused:basic Motion Planning Technique + - Forplanningfocused:Basic Motion Planning Technique - Dynamic Programming - Computation Geometry - 深度学习算法、BP算法 @@ -82,16 +89,17 @@ * Deep learning * CV * 逆向汽车动力学模型 - - 横向模型：Convolutional Neural Network(CNN) + * 端到端驾驶模型： + - 横向模型：CNN - 纵向模型：Convolutional-LSTM - 横 + 纵向模型：LRCN ## Hardware & Sensors - Computing Unit - + PX2 - + TX2 + + IPC（Intel Nvidia ...) + + 专用自动驾驶计算单元(PX2 TX2) - Perception - + Camera + + Camera(单目\双目) + LiDAR + Radar + Ultrasonic Radar @@ -100,7 +108,10 @@ + IMU + other perception sensors - CAN Card -- HMI Divice +- HMI Device +- V2X Device +- Safety + + Black Box 传感器搭建方式、配置流程、数据形式，能够通过数据判断传感器是否正常工作; 无人车基本的硬件组成，各个sensor流程，通讯信息接口，各个传感器优点能够知道本模块对于硬件需求，算法对于硬件的依赖，瓶颈等； @@ -110,7 +121,7 @@ ## Vehicle - 车辆电子控制系统 - + Protocol + + Protocol - Lin - Can - FlexRay @@ -121,4 +132,8 @@ - 汽车动力学 - AUTOSAR -熟悉上车开发调试环境，清楚软件linux下调试流程。 \ No newline at end of file +TODO +- Vehicle层比重不均衡 + +熟悉上车开发调试环境，清楚软件linux下调试流程。 + From 1bfb6508ac90114d48b85a2b7a5c05922e67610c Mon Sep 17 00:00:00 2001 From: fengzongbao Date: Tue, 19 Dec 2017 19:44:15 +0800 Subject: [PATCH 4/5] * update version --- data/map-Apollo.md | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/data/map-Apollo.md b/data/map-Apollo.md index 8d900993..453341ca 100644 --- a/data/map-Apollo.md +++ b/data/map-Apollo.md @@ -120,20 +120,17 @@ 需要掌握硬件基本参数性能、调参方法 ## Vehicle +- 线控车辆 - 车辆电子控制系统 + Protocol - - Lin - Can + - Lin - FlexRay + 动力系统控制 + 制动系统控制 + 转向系统控制 - 车载语音交互系统 -- 汽车动力学 - AUTOSAR -TODO -- Vehicle层比重不均衡 - 熟悉上车开发调试环境，清楚软件linux下调试流程。 From 4a50fb0c730ef3d654499570f296ae25aa80dc90 Mon Sep 17 00:00:00 2001 From: fengzongbao Date: Tue, 19 Dec 2017 19:49:47 +0800 Subject: [PATCH 5/5] * update --- data/map-Apollo.md | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/data/map-Apollo.md b/data/map-Apollo.md index 453341ca..ef040b92 100644 --- a/data/map-Apollo.md +++ b/data/map-Apollo.md @@ -17,6 +17,7 @@ - C++ - Bash - Python + + Keras - Javascript + Node.js + React @@ -27,14 +28,9 @@ - Caffe - Tensorflow - -- CUDA -- Keras -- Pychor - ## 硬件（芯片）编程 - CPU -- GPU +- GPU(CUDA) - FPGA # Apollo专属知识 @@ -97,7 +93,7 @@ ## Hardware & Sensors - Computing Unit + IPC（Intel Nvidia ...) - + 专用自动驾驶计算单元(PX2 TX2) + + 专用自动驾驶计算单元(PX2 TX2 ...) - Perception + Camera(单目\双目) + LiDAR