54 lines
4.4 KiB
XML
54 lines
4.4 KiB
XML
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<text x="400" y="22" text-anchor="middle" font-family="Arial, sans-serif" font-size="14" font-weight="bold" fill="#333">The Autonomous Driving Stack</text>
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<!-- Sensors -->
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<text x="70" y="90" text-anchor="middle" font-family="Arial, sans-serif" font-size="11" font-weight="bold" fill="#555">Sensors</text>
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<text x="70" y="107" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#555">cameras, LiDAR</text>
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<text x="70" y="120" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#555">radar, IMU</text>
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<!-- Perception -->
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<text x="216" y="85" text-anchor="middle" font-family="Arial, sans-serif" font-size="12" font-weight="bold" fill="#3498db">Perception</text>
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<text x="216" y="102" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#3498db">3D detection</text>
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<text x="216" y="115" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#3498db">lane detection</text>
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<text x="216" y="128" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#3498db">occupancy</text>
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<!-- Prediction -->
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<text x="372" y="85" text-anchor="middle" font-family="Arial, sans-serif" font-size="12" font-weight="bold" fill="#f39c12">Prediction</text>
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<text x="372" y="102" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#f39c12">trajectory forecast</text>
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<text x="372" y="115" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#f39c12">intent estimation</text>
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<text x="372" y="128" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#f39c12">3-8s horizon</text>
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<!-- Planning -->
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<text x="528" y="85" text-anchor="middle" font-family="Arial, sans-serif" font-size="12" font-weight="bold" fill="#27ae60">Planning</text>
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<text x="528" y="102" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#27ae60">route planning</text>
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<text x="528" y="115" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#27ae60">trajectory opt.</text>
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<text x="528" y="128" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#27ae60">decision making</text>
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<!-- Control -->
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<text x="684" y="85" text-anchor="middle" font-family="Arial, sans-serif" font-size="12" font-weight="bold" fill="#9b59b6">Control</text>
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<text x="684" y="102" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#9b59b6">steering</text>
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<text x="684" y="115" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#9b59b6">throttle</text>
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<text x="684" y="128" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#9b59b6">brake</text>
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<!-- Information flow label -->
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<text x="400" y="178" text-anchor="middle" font-family="Arial, sans-serif" font-size="10" fill="#666">Each stage refines raw data into increasingly abstract decisions</text>
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<text x="400" y="195" text-anchor="middle" font-family="Arial, sans-serif" font-size="10" fill="#999">errors propagate forward → perception quality is the bottleneck</text>
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