8. Glossary¶

ACU¶: Autonomous Compute Unit describes the consumer PC installed in the vehicle running the Autonomous System and connected to the vehicle via Ethernet and CAN.
AS¶: Autonomous System.
ASB¶: The Autonomous System Brake describes the actuator to fulfill two functionalities: The Service Brake and the EBS.
ASBC¶: Autonomous System Brake Control, a PCBA with a microcontroller which is responsible for supervising and actuating the Autonomous System Brake (ASB).
CAN¶: (Controller Area Network) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other’s applications without a host computer. It is a message-based protocol, designed originally for multiplex electrical wiring within automobiles to save on copper, but it can also be used in many other contexts. For each device, the data in a frame is transmitted serially but in such a way that if more than one device transmits at the same time, the highest priority device can continue while the others back off. Frames are received by all devices, including by the transmitting device.
EBS¶: The Emergency Brake System describes the part of the ASB which needs to perform a emergency brake maneuver when things get out of hand. See rulebook.
MPC¶: Model Predictive Control describes an approach of the control theory to predict the optimal control inputs for the upcoming prediction horizon (e.g. 1s) based on the past, a set value sequence and an plant model.
PCB¶: Printed Circuit Board.
PCBA¶: Assembled Printed Circuit Board.
ROS¶: The Robot Operating System is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it’s all open source.
Service Brake¶: The Service Brake describes the part of the ASB which is used to brake according to the Autonomous System to enable following the optimal trajectory.
SLAM¶: Simultaneous Localization and Mapping describes the robotic problem where a roboter needs to map the world around him while simultaneously needing localize itself in this map.
UKF¶: Unscented Kalman Filter is a type of Kalman Filter for highly nonlinear system which uses sigma points to describe uncertainty distributions.
VNC¶: Virtual Network Computing (VNC) is a graphical desktop-sharing system that uses the Remote Frame Buffer protocol (RFB) to remotely control another computer. It transmits the keyboard and mouse input from one computer to another, relaying the graphical-screen updates, over a network.
VSCode¶: Visual Studio Code (VSCode) is a source-code editor made by Microsoft with the Electron Framework, for Windows, Linux and macOS. Features include support for debugging, syntax highlighting, intelligent code completion, snippets, code refactoring, and embedded Git. Users can change the theme, keyboard shortcuts, preferences, and install extensions that add additional functionality. VSCode is the standardized IDE for the Autonomous System Team at CURE.