I-AWS Deepracer: Isikhathi sokuvala ku-AWS RE: Ukusungula 2024 -Ukuhamba kanjani nalowo mjaho wenyama?

Njengoba uchithe iminyaka yokugcina efunda ubuciko be-AWS Deepracer emhlabeni wenyama, umbhali waya ku-AWS Re: Ukusungula 2024. Kuhambe kanjani?

Ku-AWS Deepracer: Ungawazisa kanjani umjaho wenyama? Sibheke umehluko phakathi kwezwe elibonakalayo nelomzimba nokuthi singazivumelanisa kanjani nesimulator nendlela yokuqeqeshwa yokunqoba umehluko. Iposi langaphambilini lalishiywe livuleke – linompetha owodwa wokugcina wokugcina, kwakusekuseni kakhulu ukuhlanganyela zonke izimfihlo zami.

Manje lokho awesabekayo: Ukusungula sekuphelile, sekuyisikhathi sokwabelana ngecebo lami, ukuthi ngangilungiselela kanjani nokuthi kwahamba kanjani ekugcineni.

Icebo

Ukungena esikhathini esingu-2024, bengicabanga ngokusebenza kwami ​​kusuka ngo-2022 no-2023. Ngo-2022, ngathola ithrekhi yokungenisa engazinzile, ngaphandle kokugcina, kepha kwacaca ukuthi kungenzeka kube ngcono, kodwa kwacaca ukuthi kungenzeka kube ngcono ukuthuthuka.

Ngokuqondile, bengifuna imodeli ethi:

• Iqonde ngqo kuma-litchs namakhona ngokunemba
• Inemvelo yokusinda futhi igweme ukuhamba-ithrekhi ngisho nasendaweni eqinile
• Ingawushaya indiva umsindo obonakalayo obonwa ezungeze ithrekhi

Hlanganisa lokho ngekhono lokuhlola amamodeli ngaphambi kokuvela e-Expo, futhi impumelelo yabonakala kungenzeka!

Umsebenzi

Kulesi sigaba, ngizochaza ukucabanga kwami ​​ngokuthi kungani umjaho wemvelo uhlukile kakhulu kunomjaho obonakalayo, futhi uchaze indlela yami yokuqeqesha imodeli eyehlula lelo hlobo.

Kungaba nzima kanjani ukuya ngqo?

Uma ubuke uDeeprace ngokuhamba kwesikhathi ngokuhamba kweminyaka, kungenzeka ukuthi ubonile ukuthi iningi lamamodeli alwela ukuhambisa ngqo kuma-ngqo futhi aqede oscillating kwesokunxele nakwesokudla. Umbuzo bekulokhu: Kungani kunje? Lokhu kuziphatha kubangela izingqinamba ezimbili: Ibanga eliqhutshwa ibanga elikhulayo

Imibono embalwa yavela:

• Izinkinga zangempela – Impendulo yokuqondisa ayihambelani ne-simulator, maqondana ne-geometry yokuqondisa kanye ne-latency (isikhathi kusuka esithombeni kuya ku-servo Command, kanye nesikhathi esithatha i-servo ukuze ihlole). Ngakho-ke, lapho imoto izama ukulungisa ukuqondiswa okuqondile, ayitholi mpendulo eyilindele.
• Izinkinga zemodeli – Inhlanganisela yemodeli engasebenzisi isenzo esiqondile, futhi ingatholakali kuma-engeli adingekayo ukuze anciphise ama-oscillations (2.5-5.0 degrees).
• Izinkinga Zokulinganisa – Uma imoto ingalinganiswa ukuthi iqonde lapho inikezwe isenzo esingu-0-degree, namanani wesobunxele / kwesokudla amanani aphezulu kakhulu (ukuthambekela kokugqamile kakhulu (ukuthambekela okuphansi kakhulu (ukuthambekela kokuziphatha), kungenzeka ukuthi uthole izingqinamba zokulawula nokuziphatha okungazinzi.

Indlela yami:

• Sebenzisa i-ackermann steering geometry patch. Ngalo, imoto izoziphatha ngokweqiniso, futhi irejista eguqukayo izokwehla nge-angle enikeziwe. Ngenxa yalokhu, isikhala sesenzo singakhawulelwa kuma-angles aze afike kuma-degree angama-20. Lokhu kuhlangana ngokulingana ne-angle yemoto yangempela.
• Faka phakathi izinhlanzi eziphethe ama-engeli (2,5 no-5.0) esikhaleni sesenzo, okuvumela ukulungiswa okuncane kuma-imeyili.
• Sebenzisa isivinini esihamba kancane (0.8-1.3 m / s) ukugwema ukushelela ku-simulator. Ithiyori Yami ukuthi i-15 FPS Simulator kanye ne-30 FPS Car empeleni ihumusha ama-1.2 MP ku-Simulator ukuze kusebenze kahle ama-2.4 MPS emhlabeni wangempela.
• Ngokuba nesikhala sesenzo se-chevron esinqunyelwe esinikeza isivinini esiphakeme sama-SPRESS, hlikihla imoto ukuze usebenzise izenzo eziqondile, esikhundleni sezenzo zesokunxele kwesokunxele.
• Zama ukuphuma kwe-V3, v4, kanye namamodeli we-v5 omzimba-vivinya kuthrekhi yangempela ukubona okusebenzayo okuhle.
• Ngaphandle kwalokho, umsebenzi womvuzo wawungumsebenzi womvuzo osuselwa kunqubekela phambili engiwusebenzisa futhi kumjaho obonakalayo.

Lesi sibalo esilandelayo sibonisa umbono wokuhlolelwa egalaji, uqonde okungenani kufreyimu eyodwa.

Vumelana nezimo

Umjaho we-Virtual (cishe) anqume, futhi ngokuhamba kwesikhathi, imodeli izoguquguquka futhi imoto izothatha indlela emincane, yehlisa izinhlobo ezahlukahluka ezimweni ezibonwayo. Ekuqaleni kokuqeqeshwa, kuvame ukuba yizikhundla ezingejwayelekile, kucishe kuhambe ngokuhamba ngomkhondo, futhi kukhumbula indlela yokuphuma kulezi zimo. Njengoba kuguqulwa, imvamisa okufanele kubhekane nalokhu kunciphisa lokhu, futhi umbono wokuthi imemori iyaphela, futhi ngesinye isikhathi, ikhohlwa ukuthi iphume kanjani endaweni eqinile.

Indlela yami:

• Ukwehlukaniswa kokuqeqeshwa ukufundisa imoto ukubhekana namakhona ahlukahlukene, kuzo zombili izinkomba:
  • Amamodeli aqeqesha ngokungaguquki ahamba ngokubili ngokwewashi ne-conterclockwolk.
  • Sebenzisa amathrekhi-ngokuyinhloko ithrekhi ye-2022 yobuqhawe – okuyinkimbinkimbi kakhulu kunomjaho waphakade.
  • Yenza kahle kokugcina emjahweni waphakade – futhi kuzo zombili izinkomba.
• Thatha izifinyezo eziningana ngesikhathi sokuqeqeshwa; Ungayi ngaphansi kwe-0.5 ku-entropy.
• Hlola amathrekhi imoto engakaze ibone. I-simulator inezindlela eziningi ezifanele, ezincanyana – uphawu lwemodeli ejwayelekile yilena engaphatha amathrekhi ayikaze ayibone ngesikhathi sokuqeqeshwa.

Hlala ugxile ethrekhi

Eposini lami lokugcina, ngabuka umehluko obonakalayo phakathi komhlaba wangempela nowangempela. Umbuzo ukuthi yini okufanele uyenze ngakho. Umgomo ukukhombisa imodeli ekunganaki umsindo futhi ugxile kokubalulekile: ithrekhi.

Indlela yami:

• Qeqesha endaweni enomsindo obonakalayo owengeziwe. Amathrekhi embonini yethrekhi yangokwezifiso angezela umsindo ngezibani ezengeziwe, izakhiwo, kanye nezindonga ezahlukahlukene (kanti ezinye zize zize nemithunzi).
• Shintsha imvelo ngesikhathi sokuqeqeshwa ukugwema ukweqisa umsindo ongeziwe. Amathrekhi wangokwezifiso enziwe ngendlela ehlukile yokuthi izinto ezahlukene (izakhiwo, izindonga kanye nemigqa) kungenziwa zingabonakali ngesikhathi sokusebenza. Ngibe nomsebenzi we-cron ngokungahleliwe imvelo njalo ngemizuzu engu-5.

Lesi sibalo esilandelayo sibonisa imvelo ehlukahlukene yokuqeqeshwa.

Engangikukhumbuli kulo nyaka bekulingisa ukufiphala ngesikhathi sokuqeqeshwa. Ngizame lokhu phambilini ngokulinganisa ifreyimu yekhamera yamanje neyedlule ngaphambi kokungasebenzi. Kubonakala sengathi akusizanga.

Ukuhlanekezela kwe-Lens kuyisihloko engikubonile, kepha angiphenywa ngokugcwele. Ikhamera yasekuqaleni inokuphazamiseka kwamehlo okuhlukile, futhi i-gazebo izokwazi ukuphinda ikuphindisele, kepha kungadinga ukuthi omunye umsebenzi unqume ama-coefficients. Ngokulinganayo, angikaze ngizame ukuphindaphinda izinyathelo ezigoqayo zemoto yangempela.

Ukuhlola

Ukuhlolwa kwenzeka egalaji kuthrekhi ye-trapezoid incolow. Ithrekhi ngokusobala iyisisekelo, kepha ngama-ngqo amabili nama-180-degree ajika ane-radii ehlukile, kwadingeka enze umsebenzi. Ithrekhi yegarari ibuye ibe nomsindo owanele wokubona ukubona ukuthi amamodeli aqhekeke ngokwanele yini.

Indlela yaqonda ngqo: Zama wonke amamodeli ama-ClockWache With Kusetshenziswa izingodo ezithungelwe yisitaki se-Car Cary, ngichithe kusihlwa ngibheka ividiyo yokugijima ngakunye ukuthola ukuthi yiliphi imodeli engikuthandile ukuqina okungcono kakhulu, ukuphathwa (iqonde kuma-stractisos kanye ne-PRICE CORROSINSIng), nesivinini.

Re: Ukusungula 2024

Ithrekhi ye-RE: Ukusungula 2024 kwakuwumjaho waphakade. Ukwakheka kwethrekhi akukusha; Ihlanganyela ne-Centerline ne-2022 Speedy Speedway, kepha ukuba ngu-76 cm ububanzi (okwangempela kwakungu-1.07 cm), amajika abe makhulu, okwenza kube yithrekhi enzima kakhulu.

Imvelo

Imvelo yi-Classic Re: Qalisa: Ithrekhi ebushelelezi ngokukhanya okuncane okuhlangene nezindonga ezibushelelezi, ezinde ezinde ezizungeze ithrekhi. Isizinda yilokho okuvame ukudala inkinga – kulo nyaka, kukhonjiswe okukhonjiswayo okukhulu ngaphansi kophahla ekugcineni kwethrekhi, futhi njengoba lesi sibalo esilandelayo sibonisa ukunakwa kwalabafundi.

Ngokufanayo, ikheji lomgodi, lapho kugcinwa khona izimoto, kwaheha ukunakwa.

Imiphumela

Ngakho-ke ngagcina kuphi, futhi ngani? Ku-Round 1, ngagcina ngisendaweni eyi-14, ngesilinganiso esihle kakhulu semizuzwana eyi-10.072, nesikhathi esihle kakhulu semizuzwana engu-9.335. Akukuhle, kepha futhi akukubi – cishe 1 Okwesibili ngaphandle kwe-8 ephezulu.

Kusetshenziswa ikhamera ebheke phezulu enikezwe yi-AWS ngokusebenzisa umfudlana weThumisiwe, kungenzeka ukudala ukubuka okubonakalayo okubonisa indlela imoto ethathwe, njengoba kukhonjisiwe kulokhu okulandelayo.

Uma siqhathanisa lokhu nokuthi imodeli efanayo yathanda kanjani ukushayela ekuqeqesheni, sibona umehluko omncane.

Okusobala okusobala ukuthi yize ngiphumelele ngokuqondile (phezulu) ngqo, imoto ayizange ibheke ngokuqinile njengasesikhathini sokuqeqeshwa, okwenza isigamu esingezansi sethrekhi kancane. Noma kunjalo, imoto ikhombise isimo esisinda sokusinda futhi ihlala ilandelwa noma ibhekana namakhona abukhali kungazelelwe.

Kungani lokhu kwenzeka:

• Ama-degree angama-20 wokuguqula usebenzisa i-ackermann steering ikhulu kakhulu; Imoto yangempela ayikwazi ukukwenza emhlabeni wangempela
• I-radius eguqukayo iyanda njengoba ijubane likhuphuka ngenxa yokushelela, okubangelwa zombili ukuxabana okuphansi kanye nokuntuleka kokubamba ngenxa yokugoqa
• Isikhathi sokuphendula sidlala ngaphezulu kwendima njengoba ijubane liyanda, futhi imodeli yami yenza sekwephuze kakhulu, i-Overshooting iye ekhoneni

Umsakazo oguqukayo wokuguqula nokuphendula umphumela futhi wabangela izingqinamba ekuqaleni. Uma imoto ihamba kancane, iphenduka ngokushesha okukhulu – futhi igcina i-Off-track kuzinkinga ezingaphakathi ezibangela ongaphakathi kimi nakwabanye.

Ukuthatha kwami:

• Sekukonke, indlela yokuqeqeshwa yabonakala isebenza kahle. Izimoto ezilinganiselwe kahle zaqonda ngqo kuma-eqondile, futhi umsindo wangemuva wawungabonakali sengathi unamahlumela ami kakhulu.
• Ngidinga ukusondela ezifweni zokuphatha zemoto zangempela ngejubane ngesikhathi sokuqeqeshwa ngokwandisa ijubane elikhulu futhi kuncishiswe i-max angle endaweni yesenzo.
• Umjaho Womzimba awukaqondwa kahle – futhi kuningi mayelana nemodeli-ukuhlangana-imoto. Amanye amamodeli achuma ezimotweni ezilinganiselwe ngokuphelele, kanti amanye asebenza kahle uma efaniswa nenye.
• Ithrekhi yiKing – lezo ezathola ithrekhi, kungaba ngumqashi wazo noma eyakhele eyodwa ekhaya, yayinenzuzo enkulu, noma ngabe cishe wonke umuntu wathi zimangazwe yiliphi imodeli elisebenza ekugcineni.

Manje jabulela ukubuka okungaphakathi kwemoto ku-RE: Qikelela, futhi ubone ukuthi ungabona noma yiziphi izingqinamba engixoxe ngazo. Le vidiyo yalotshwa ngemuva kokuthi ngikhishwe ngaphandle komncintiswano ngisebenzisa imoto nge-software yemoto yangokwezifiso.

Isikhathi sokuvala: Sisuka kuphi lapha?

Lesi sigaba sithokoziswa kangcono nge-SemiSoc's Ukuvala isikhathi njenge-soundtrack.

Njengoba sonke sisongelwe e-Expo ngemuva kwesonto elinamandla lomjaho, Re: Ukusungula ngokoqobo ukudilizwa ngathi, umbuzo wawungukuthi: Yini elandelayo ngokulandelayo?

Lokhu bekuyimpikiswano yokugcina enobuhlakani, kepha umuzwa ojwayelekile ukuthi kanti akekho umuntu ozomkhumbula ngempela umjaho we-Virtual – kuyinkinga-umjaho oxazululwa yinkinga, futhi umphakathi awukakulungeli ukuqhubeka. Kusukela Re: Qamba imizamo eminingana ithole ukugcwala ngenhloso ejwayelekile yokwenza ukuthi uDeepracer ufinyeleleke kalula:

• Ngokubhalisa izimoto nge-deesuracer car software software stack ibe yimenenja yomcimbi we-Deepracer ungabamba izingodo zemoto futhi ukhiqize amavidiyo we-analytics, njengoba kukhonjisiwe kule ndatshana, ngqo phakathi nomcimbi wakho!
• Hlanganisa izingxenye ze-Off-the-Shelfel ngeBhodi Yezezimali Ngokwezifiso Zokwakha i-1: 28 ScalePhale Pi Mini Mini zombili izinketho zihambisana namamodeli womcimbi oqeqeshiwe, kufaka phakathi ukuhlanganiswa nomphathi womcimbi we-Deepracer.

I-DeePracer Console yangokwezifiso izoba ukufakwa esikhundleni kwe-UI yemoto yamanje nge-UI enhle eklanywe nge-CloudScape, ivumelanise umklamo nge-DREM kanye ne-AWS Console.

Prototype deepracer Pi mini – 1: 28 isikali

Amagama okuvala

I-Deepracer iyindlela enhle yokufundisa i-AI ngendlela ebonakalayo nebonakalayo, futhi ilungele izingane ezindala, abafundi, kanye nabantu abadala ekuhlelweni kwebhizinisi ngokufanayo. Kuzoba mnandi ukubona ukuthi ama-AWS, abalingani bawo abahlanganyele, futhi umphakathi uzoqhubeka nohambo eminyakeni ezayo.

Ngiyabonga kakhulu kubo bonke labo abaye babandakanyeka ekujuleni kwayo kusukela kwafika namuhla – abaningi kakhulu ukuba baqanjwe ngabo – kube okuhlangenwe nakho okuhle. Ukuhalalisela okukhulu kuphuma kuze kube yilapho abaphumelele kuleminyaka!

Isikhathi sokuvala, zonke iziqalo ezintsha zivela kokunye kokuqala …

Mayelana nomlobi

Lars Lorentz Ludvigsen Ingabe ubuchwepheshe be-Expinia babo bethulwa kuma-AWS Deepracer ngasekupheleni kuka-2019 futhi waboshwa ngokushesha. I-Lars isebenza njengomqondisi olawulayo ngokuqamba, lapho asiza khona amaklayenti akhe isizukulwane esilandelayo semikhiqizo exhunyiwe ehlakaniphile. Ngaphezu kweqhaza lakhe ekuqinisekiseni, ungumakhi womphakathi we-AWS ogxile ekuthuthukiseni nasekugcinweni kwezixazululo zesoftware yomphakathi we-AWS Deepracer.