Proposed Autonomous Vehicle Framework for Safe Driving

The proposed idea to improve the usage of an autonomous vehicle to increase safe driving based on the DARPA project, which already has shown the bright future of the autonomous vehicle. This paper proposes a new idea regarding the sensors and the autonomous vehicle framework, such as the usage of some algorithms and new UI along with the data logger. Moreover, the use of a LIDAR sensor is extended, along with a stereo camera and also ultrasonic sensor to make it more precise. Then, a calibration system is made for the stereo camera, which will take help from the ultrasonic sensor. Not the only ultrasonic, camera, and LIDAR, and IMU and GPS sensor are used to know the angle of x, y, and z of our vehicle. Both IMU and GPS are helping in the perception and mostly in the RNDF Localization that will be used in the pathfinding, planning, and control. The global Dynamic-Window approach is applied for the path selection algorithm and combining it with the Autonomous System Approach. The speed selection algorithm will decide on the speed limit and the camera. Not only that but the implement the Inter-Vehicle Algorithm is implemented, which makes the vehicles can exchange information with the other vehicles in the radius of the vehicle. Which all of this together can make a safer driving environment, not only for cars but another vehicle as well. Hope this framework can be used for any other vehicle project and becoming the base of all autonomous vehicle.