Autopilot: Plan


  • Step 1: Keep lane. Control the steering wheel position based on camera feed.
  • Step 2: Adaptive cruise control. Utilize vehicle’s existing cruise control to control the vehicle’s speed, while keeping a safe distance to the car ahead.
  • Step 3: Speed limit detection. Extend adaptive cruise control by detecting speed limit signs.
  • Step 4: Consider turn signals to change lanes. An additional input to the NN of Step 1 animates it to change lanes and take turns instead of just following the current lane.
  • Step 5: Navigate with maps. Use Google maps routing as a source for turn signals.

Step 1:


  • Enable system by long-pressing RES/+ and Phone-Call-Button simultaneously
  • Disable by pressing Disable-Cruise-Control-Button, the brake pedal, the clutch pedal
  • Disable when steering wheel angle controller notices a persisting deviation between setpoint and actual angle (detecting a forceful manual override)

System inputs:

  • RGB image (Camera)
  • [Depth image (Camera)]
  • Actual steering wheel angle (Vehicle LS-CAN, Data Collection)
  • Actual vehicle speed (Vehicle LS-CAN, Data Collection)
  • Steering wheel button presses (Vehicle LS-CAN, Engage)
  • Brake pedal pressed (Vehicle LS-CAN, Disengage)
  • Clutch pedal pressed (Vehicle LS-CAN, Disengage)

System outputs:

  • Engange/Disengage actuator
  • Steering wheel actuator: rotation speed and direction

Neural Network


  • RGB image
  • (Depth image)
  • (Actual vehicle speed)


  • Desired steering wheel angle

Steering wheel angle controller


  • System on/off
  • Actual steering wheel angle
  • Desired steering wheel angle
  • Actual vehicle speed (To limit actuator speed)


  • Engange/Disengage actuator
  • Steering wheel actuator, rotation speed and direction

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