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Hands-On Vision and Behavior for Self-Driving Cars

You're reading from   Hands-On Vision and Behavior for Self-Driving Cars Explore visual perception, lane detection, and object classification with Python 3 and OpenCV 4

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Product type Paperback
Published in Oct 2020
Publisher Packt
ISBN-13 9781800203587
Length 374 pages
Edition 1st Edition
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Authors (2):
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Krishtof Korda Krishtof Korda
Author Profile Icon Krishtof Korda
Krishtof Korda
Luca Venturi Luca Venturi
Author Profile Icon Luca Venturi
Luca Venturi
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Toc

Table of Contents (17) Chapters Close

Preface 1. Section 1: OpenCV and Sensors and Signals
2. Chapter 1: OpenCV Basics and Camera Calibration FREE CHAPTER 3. Chapter 2: Understanding and Working with Signals 4. Chapter 3: Lane Detection 5. Section 2: Improving How the Self-Driving Car Works with Deep Learning and Neural Networks
6. Chapter 4: Deep Learning with Neural Networks 7. Chapter 5: Deep Learning Workflow 8. Chapter 6: Improving Your Neural Network 9. Chapter 7: Detecting Pedestrians and Traffic Lights 10. Chapter 8: Behavioral Cloning 11. Chapter 9: Semantic Segmentation 12. Section 3: Mapping and Controls
13. Chapter 10: Steering, Throttle, and Brake Control 14. Chapter 11: Mapping Our Environments 15. Assessments 16. Other Books You May Enjoy

Framed-based serial protocols

Up until now, we have been discussing protocols that have fairly small message sizes in the region of 8-10 bits. What if you want to send more? In the next few sections, you will learn about protocols that support larger message sizes and package them into frames or packets.

You will learn about the following protocols:

  • CAN
  • Ethernet: UDP and TCP

Understanding CAN

Controller Area Network (CAN) is a message-based protocol that was developed, by Bosch, to reduce the number of wires connecting the ever-growing number of microcontrollers and Electronic Control Units (ECUs) in vehicles.

It is a bus-based protocol with two wires acting as a differential pair, CAN-HI and CAN-LO. You learned about differential pairs in the Single-ended versus differential section.

Ghost and goblins

Do you recall the trick we used to provide safe passage to the langis and the signal on their journey? There is a real twist to that story.

CAN...

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