Autonomous Baja Buggy: A Comprehensive Approach to Design and Development

Abstract

This research project introduces a novel modular system aimed at transforming off-road Baja vehicle into autonomous entities while still maintaining the option for manual operation. The primary objective of this study involves the design and development of a Level 3 autonomous vehicle prototype, utilizing a Society of Automotive Engineers eBaja vehicle equipped with advanced actuators and exteroceptive sensors. The outcome of this project yielded a drive-by-wire system, enabling the Baja vehicle to autonomously localize itself through sensor input, generate accurate surrounding maps, and efficiently plan trajectories. In simulated environments, the vehicle successfully navigated a series of obstacles based on given maps. The goal is to enhance the software system's modularity and real-time capability, empowering the vehicle to autonomously traverse challenging off-road terrains for the purpose of aiding distressed individuals in rescue scenarios. Furthermore, this article addresses the criticality of sensor integrity, emphasizing the potential risks associated with tampering or manipulation of sensor data. As the lives of individuals are at stake, any compromises to the accuracy and reliability of sensorgenerated data can lead to catastrophic consequences. Consequently, a comprehensive exploration of attacks targeting various sensor types employed by autonomous vehicles is discussed. At Level 3, autonomous vehicles assume full control over driving tasks, although human drivers must remain vigilant and ready to intervene if the advanced driver assistance systems require assistance or encounter functional limitations. Pending approval, drivers will have the ability to temporarily disengage from steering responsibilities, allowing them to engage in activities such as video streaming, email correspondence, and communication with colleagues.