This repository contains the software architecture, embedded firmware, and mechanical designs developed by Team Autonomists for the Bosch Future Mobility Challenge. The project focuses on the development of a 1:10 scale autonomous vehicle capable of real-time perception, localized decision-making, and V2X communication.
The system utilizes a distributed computing model, split between a high-level processing unit (Raspberry Pi/PC) and a low-level microcontroller (STM32 Nucleo).
- Lane Detection (LD): Computer vision algorithms for track boundary identification and ego-lane positioning.
- Object Identification: Convolutional Neural Networks (CNN) for real-time classification of traffic signs, obstacles, and pedestrian markers.
- State Machine: High-level logic for intersection handling and traffic rule compliance.
- Kinematic Modeling: Calculation of required steering angles and longitudinal velocity.
- Signal Processing: PID control loops for stabilizing motor output and servo positioning.
- V2X Communication: Integration with the Bosch Environmental Server via MQTT/TCP-IP protocols.
- Localization: Processing of global positioning data and traffic light status provided by the server infrastructure.
- Actuation: Low-level PWM generation for the BLDC motor and steering servo.
- Sensor Feedback: High-frequency interrupt handling for rotary encoders and IMU data acquisition.
Team_Autonomists/
├── src/ # High-level processing (Python/C++)
│ ├── perception/ # Image processing and inference scripts
│ ├── control/ # Trajectory planning and decision logic
│ └── connectivity/ # Server-side communication scripts
├── firmware/ # STM32 Nucleo source code and binaries
├── 3dp/ # CAD source files and STL geometries
├── models/ # Trained weights and model definitions
├── docs/ # Technical specifications and schematics
├── main.py # System integration and execution entry point
└── requirements.txt # Dependency specification
| Name | Role |
|---|---|
| Dhyumaan Raval | team lead, computer vision and AI/ML systems, vehicle control, CAD designer |
| Meet Jain | sensor fusion, microcontroller, communication protocols, github, firmware |
| Saumy Patel | mechanics optimization, sensor integration, vehicle control, CAD designer |
| Chintan Trivedi | data handling, communication protocols, data curator |
| Harshid Rawal | computer Vision and AI/ML systems, rpi related operations |
Thanks to Bosch Engineering Center Cluj and the BFMC organizers for creating a platform that allows students to explore real-world autonomous driving challenges.