Estonian first level 4 self-driving vehicle – ISEAUTO

ISEAUTO – the first self-driving vehicle in Estonia implemented at Tallinn University of Technology (TalTech) in cooperation with Estonian automotive companies SilberAuto and ABB Eesti. ISEAUTO is a research and educational project on designing and developing a self-driving vehicle. The cooperation and joint development result in a pre-commercial AV shuttle, which can be exploited as a research and educational platform in university and as a commercial vehicle in urban mobility pilot cases. The vehicle uses open-source software and has a modular design, reducing manufacturing costs. The project had its first public demo in September 2018 and has been a success story since then. Spin-off company AuVe Tech was established as a successor of SilberAuto, focusing on developing and manufacturing a commercial version of ISEAUTO. TalTech continues to focus on an open-source version development for research and education.

First public autonomous driving in Tallinn University of Technology 100th anniversary at 17. September 2018 – video

Team of prototype

The full story of the Iseauto project

The objectives of the development, in addition to research, are the following:

• Future city research and development platform. We offer a service platform for students and companies to use a self-driving car and other smart infrastructure components to develop new and innovative services.
• Knowledge and competence. One of the project’s goals is to develop competence and know-how at the university level about self-driving cars. As many students are involved, we provide valuable practical experience to future engineers in Estonia. The project also signals students that modern education is provided at TalTech, and students can engage in practical studies in an area of interest.

TalTech iseAuto v2.0

Knowledge and competence

Competence and know-how about autonomous vehicles and self-driving algorithms in the university are developed and valuable practical experience for future engineers in Estonia is provided.

Practical study

The project is an opportunity for students while studying at TTÜ – modern education is provided and students can engage in practical studies in an area of cutting-edge technology.

Smart city

The wider goal of the project is to set up a smart city space along with a self-driving vehicle and a smart infrastructure.

 

SELF-DRIVING VEHICLES AND AUTONOMOUS SYSTEMS COMPETENCE CENTER

The research group is working on research, development, and implementation of autonomous vehicles, industrial mobile robotics, and smart city testbed. In particular, we work on autonomous driving technologies for self-driving vehicles, simulations and validations in terms of safety, usability and edge case detection, mapping and virtual environment creation based on lidar and camera data from UAVs, smart city testbed development and user experiments in the future urban environment.

 

ISEAUTO v1

System architecture

• TalTech iseAuto hardware architecture
• TalTech iseAuto high level software architecture

Research papers

• Sell, R.; Soe, R.-M.; Wang, R.; Rassõlkin, A. (2021). Autonomous Vehicle Shuttle in Smart City Testbed. In: Zachäus C., Meyer G. (Ed.). Intelligent System Solutions for Auto Mobility and Beyond (143−157). Springer, Cham. (Lecture Notes in Mobility). DOI: 10.1007/978-3-030-65871-7_11.
• Bellone, M.; Ismailogullari, A.; Müür, J.; Nissin, O.; Sell, R.; Soe, R.-M. (2021). Autonomous driving in the real-world: The weather challenge in the Sohjoa Baltic project. In: Hamid, U. Z. A., Al-Turjman, F. (Ed.). Towards Connected and Autonomous Vehicle Highways (229−255). Switzerland: Springer International Publishing. (EAI/Springer Innovations in Communication and Computing). DOI: 10.1007/978-3-030-66042-0.
• Malayjerdi, M.; Baykara, B. C.; Sell, R.; Malayjerdi, E. (2021). Safety Assessment and Simulation of Autonomous Vehicle in Urban Environments. IOP Conference Series Materials Science and Engineering, 1140 (1), #012032. DOI: 10.1088/1757-899X/1140/1/012032.
• Kalda, K.; Sell, R.; Soe, R.-M. (2021). Self-driving Shuttle Bus Use Case in City of Tallinn. IOP Conference Series Materials Science and Engineering, 1140 (1), 012047. DOI: 10.1088/1757-899X/1140/1/012047.
• Wang, R.; Sell, R.; Rassõlkin, A.; Otto, T.; Malayjerdi, E. (2020). Intelligent Functions Development on Autonomous Electric Vehicle Platform. Journal of the Machine Engineering, 20 (2), 114−125.10.36897/jme/117787.
•  A. Rassõlkin, R. Sell, A. Kallaste, T. Vaimann, Propulsion Drive Topology Selection for Further Development of ISEAUTO Self-Driving Car, RTUCON2018
• A. Rassõlkin, R.Sell, M. Leier, Development case study of the first estonian self-driving car, iseauto, Electrical, Control and Communication Engineering, The Journal of Riga Technical University Vol14 Is. 1
• R. Sell, A. Rassõlkin, M. Leier, J. Ernits, Self-driving car ISEAUTO for research and education, June 2018, Conference: The 19th International Conference on Research and Education in MechatronicsAt: Delft, Holland

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Thesis

Doktoritööd

• 2023 Scenario-based Validation of Safety and Performance of an Autonomous Vehicle by a Software in Loop Simulation Method, Mohsen Malajyerdi
• 2022 Urban mobility and self-driving vehicles in smart city, Ehsan Malayjerdi

Master’s thesis

• Visual localization  for Iseauto using structure from motion, Yaroslav Hrushchak
• Telemetry on robot operating system based self-driving vehicles, Osman Firat Akandere
• Iseauto uue alusraami väljatöötamine, Mari-Ly Klaats
• Dünaamiliselt uuendatav 3D kaardi lahendus Iseautole, Mirjam Feodorov
• Autonoomse sõiduki raja järgimine vabavaralise tarkvaraga Autoware, Priit Trink
• Evaluation of multiple lidar placement on a self-driving car in Autoware, Mihkel Väli
• Isejuhtiva auto tarkvara mudelipõhine integratsioonitestimine Autoware näitel, Lauri Roomere
• Estimating object detection reliability for TTU “Iseauto” self-driving car, Artur Vainola
• TTU self driving car master controller embeded software testing, Eslam El-Sherbieny
• Development of Test Bench for Propulsion Motor of Self-driving Car ISEAUTO, Durgun Ihsan Ata, 09.07.2020
• Firmware upgrade solution for TalTech self-driving car controllers, Lass Keijo 15.01.2019
• Modelling and simulation of iseauto self-driving vehicle dynamics, Onyshchenko Hennadii, 03.06.2021
• Development of a cybersecurity evaluation test bed for autonomous self-driving vehicles, Roberts Andrew 17.08.2020
• Rooli kontroller isesõitvale sõidukile “ISEAUTO”. Steering Controller for Self-Driving Vehicle “ISEAUTO”, Sosnovski Oleg, 01.06.2020

 

Bachelor’s and diploma thesis 

• Madala taseme juhtkontrolleri arendus isejuhtivale sõidukile, Elvar Liiv
• Elektriauto mootori juhtsüsteemi signaalide analüüs ja otsejuhtimise võimaluste kaardistamine, Kirill Tihhonov
• Choosing distance sensors for TUT self-driving vehicle, Maarjo Mass (EST)
• Andmeedastuskihi loomine TTÜ isejuhtiva auto kasutajaliidese jaoks, Krista Norak
• Development and implementation of an optimal navigation system for a self-driving test car, Mohammad Tavassolian

Reports

• LMV Pilot report, Ruxin Wang

Press

Populaarteadus

• Postimehe teadus Tehnikaülikooli teadlased õpetasid isejuhtiva auto sujuvalt mööda sõitma
• ERR Novaator Uus algoritm muudab isejuhtiva auto möödasõidu sujuvamaks ja kiiremaks

TalTech iseAuto v2.0

• Arvutimaailm: TalTechi iseAuto v2.0 sai uue futuristlikuma ja pilkupüüdvama disaini
• Äripäeva tööstusuudised: TalTechi iseAuto 2.0 saab futuristlikuma kujunduse
• Digigeenius: TalTechi iseAuto v2.0 uus kujundus on futuristlikum ja pilkupüüdvam 
• Äripäeva logistikauudised: TalTechi iseAuto v2.0 saab futuristlikuma kujunduse

Auhinnad

• Tallinna Ettevõtlusauhind 2019: Parim rakenduslik teadustöö 2019 koostöös Tallinna Tehnikaülikooliga on ISEAUTO
• Tallinna Ettevõtlusauhind 2019: Koostööprojekt 2019 – ISEAUTO

Piloteerimised Ülemistes ja Kreekas

• “The Future of Transport is Now”  Iseauto tulevikutehnoloogiate näitusel (pildid)
• Defi Forte: Ülemistel sõidab tänasest isejuhtiv buss
• Auto geenius: Juuni keskel hakkab Ülemistes reisijaid vedama isejuhtiv buss
• Tehnikamaailm: Ülemiste Citys hakati testima kolmel isejuhtival bussil põhinevat ühistranspordi platvormi
• Postimees: Ülemiste Citys rammis auto isesõitvat bussi
• Lasnamäe leht: Ülemiste Citys saab nüüd sõita isejuhtiva bussiga
• Buller: Ülemiste Citys alustab neljapäeval testsõite isejuhtiv buss
• auto24: Ülemiste Citys hakkab sõitma isejuhtiv buss
• Keskkonnatehnika: Rae vald kaalub võtta kasutusele isejuhtivad bussid
• Delfi Forte: Eestlaste loodud Iseautot hakatakse katsetama ka välismaal, valmimas on kaks väga huvitavat prototüüpi
• Digigeenius: Suvel hakkab Iseauto sõidutama reisijaid Ülemiste linnakus ja lennujaamas

Iseauto koostöö USAga ja rahvusvaheline meedia

• Netflix: CONNECTED with Latif Nasser – Clouds
• Forbes: Open Source AVs: The Story Of AV Development In Estonia
• Research in Estonia: A university project turned into a driverless bus
• Central Florida Development Council “Florida Poly partners to research and test self-driving vehicles”
• Science Business: “TalTech to establish cooperation with US on developing self-driving cars”
• Florida Politics: “Flordia Polytechnic University launches partnership with Estonian university to research autonomomous vehicles”
• WUSF News: “Florida Poly pairs with Estonian University on driver-less car research”
• Tööstusuudised: “TalTech is developing Iseauto with US researchers”
• Eesti Päevaleht: “TalTech launches partnership with US researchers for creating street legal Iseauto”
• Postimees Tehnika: “TalTech starts bringing Iseauto to the streets with US researchers”
• Äripäev “Self-driving vehicle has to decide who gets to live and die”

Finest Twins

• ACCELERISTA “TalTech will get 32 million euro for building Finest Twins smart city”
• Postimees “Technical University  leaded project will receive 32 million euros for smart city development”

Brüssel EU Industry Days

• Science Business “TalTech presented Iseauto to the European Commission and potential partners from industry and universities”
• Meedius “Idea: TalTech Iseauto would suite for the airports”
• Aktuaalne kaamera “VIDEO: Tallinn University of Technology shows it’s self-driving vehicle in Brussels”
• ERR uudisteportaal “University of Technology presents their self-driving bus in Brussels”
• Europost “Common Industrial Policy: no region will be left behind”
• ITuudised (Äripäev) “TalTech shows Iseauto for potential partners in industry”
• Tööstusuudised (Äripäev) “TalTech esitleb Brüsselis tööstuse esindajatele Iseautot”
• Digigeenius “TalTech presented Iseauto to the European Commission and potential partners from industry and universities”
• Pealinn “TalTech presented Iseauto to the European Commission and potential partners from industry and universities”
• Teadusinfoportaal ETIS “TalTech presented Iseauto to the European Commission and potential partners from industry and universities”
• TalTech veeb “TalTech presented Iseauto to the European Commission and potential partners from industry and universities”
• Sputnik “TalTech esitles Brüsselis isesõitvat autot”

Radio

• ERR raadio “TalTech näitas Bürsselis isesõitvat bussi”
• Vikerraadio päevakaja 18.00
• Vikerraadio päevakaja 16.00

Presentations

• Yle Areena “Robotic buses will soon be on the streets of Europe – Tallinn and Helsinki are at the forefront of the development of moving vehicles”

• Koolielu ““TalTech and Silberauto will begin to build a self-driving vehicle that is legal on the streets”

• Eesti Teadusinfosüsteem “TalTech and Silberauto are starting to build the next vehicle”
• Geenius.ee “University of Technology will build a next vehicle, because the first on is always on the road”
• Postimees Tehnika “A new self-driving car will be built in Tallinna”
• TalTech “TalTech and Silberauto are starting to build the next vehicle “
• TalTech Uudised “Taltech self-driving car first ride was a success”
• Delfi Forte  “VIDEO | Estonia’s first self-driving car was driving along Taltech campus”
• Delfi Forte “Estonia’s first self-driving car is doing today it’s first official ride”
• ERR “ISEAUTO made it’s first official ride in TalTech campus”
• ERR “Gallery: Rock Opera and Iseauto performed on TalTech anniversary”
• Eesti Päevaleht “Estonia’s first self-driving car”
• Postimees Tehnika “Gallery: Estonia’s self-driving car made it’s first official ride”
• GoodNews “Historical moment! Estonia’s first self-driving car made it’s first official ride”

Stage IV

• Geenius.ee Geeniuse reportaaž: sõitisime esimeses Eestis ehitatud isejuhtivad autos ja see oli kummaline
• Reporter: “For the first time self-driving car was demonstrated to the public in Paide, Estonia” 
• Geenius.ee “TUT self-driving car will make it to the public for the first time this weekend”
• Geenius.ee “Photos: Look, how does the first Estonian self-driving car looks like”
• Eesti Päevaleht “Estonian self-driving car made it to the public”
• Postimees “Broadcast from Opinion Festival: “Self-driving car does not surf in mobile phones, but follows strictly the rules”
• ERR “TUT self-driving car made it to the public”
• GoodNews “TUT self-driving car will make it to the public for the first time”
• Delfi Forte “Self-driving car, build by TUT and Silberauto, will be demonstrated tomorrow” 
• Arvutimaailm “Estonia’s first self-driving car will be demonstrated in Paide Opinion Festival”
• Postimees Tehnika “There it is, Estonia’s first self-driving car”
• Postimees “Estonia’s first self-driving car in Paide Opinion Festival”

Radio

• Kuku Raadio Daily view 09.08.2018

Stage III

• Novaator.ee “Large corporations are showing interest in TUT self-driving vehicle” 
• Postimees – Video
• Logistikauudised.ee “TUT presents self-driving car in TUT Open Doors Day”

Television

• ERR Terevisioon (26.02.2018)

Stage II

• Geenius.ee “Large corporations are showing interest in TUT self-driving vehicle” 
• Eesti Päevaleht “Next year Tallinn will test self-driving buses in city traffic”
• Mente et Manu “Self-driving vehicle, build by TUT and Silberauto, has reached to developing stage”

Television

• Kanal 2 Reporter

Radio

• Vikerraadio 23.11 “Nutikas” rubriik Uudis+. Lauri Varik (järelkuulamine)

Launching a project and signing a contract

• Postimees “Photos: TUT starts to build a self-driving vehicle “
• “TUT and Silberauto build self-driving vehicle”

Television

1. Suvereporter http://station.ee/#15441156
2. Suvereporter online http://station.ee/#15439275
3. Terevisioon (interview with Raivo Sell)  http://station.ee/#15447363
4. Terevisiooni news   http://station.ee/#15425987
5. Kofe+   http://station.ee/#15424712
6. Tallinna TV news kl 20  http://station.ee/#15440927
7. Tallinna TV news kl 18 http://station.ee/#15439390

Radio

1. Kuku Radio interview with Rector  http://station.ee/#15425986
2. Kuku radio http://station.ee/#15425548
3. Direct radio broadcasting and interview with Raivo Sell  http://station.ee/#15426151
4. Radio 2  http://station.ee/#15424485
5. Retro FM  http://station.ee/#15407367
6. Sky Plus at 9.30 am   http://station.ee/#15426838
7. Sky Plus at 7.30 am  http://station.ee/#15404561
8. Sky Plus at 6.30 http://station.ee/#15403663
9. MyHits at 9.30 am http://station.ee/#15426836
10. MyHits at 7.30 am http://station.ee/#15404564

Online

1. Postimees online http://tehnika.postimees.ee/4130545/fotod-ttu-hakkab-ehitama-isejuhtivat-soidukit
2. Postimees online in russian  http://rus.postimees.ee/4130107/ttu-i-silberauto-podpishut-dogovor-o-sozdanii-bespilotnogo-avtomobilja
3. Postimees Feedback Portal  http://arvamus.postimees.ee/4132787/opetajate-lehes-sel-reedel-tudengid-ehitavad-targa-auto
4. Delfi Forte  http://forte.delfi.ee/news/auto/selline-on-esimene-eestis-arendatav-isejuhtiv-soiduk?id=78411827
5. Delfi Forte   http://forte.delfi.ee/news/auto/eestis-algab-isejuhtiva-auto-loomine?id=78382928
6. Linnaleht online  http://www.linnaleht.ee/808551/eesti-esimene-oma-isesoitja-alustab-juba-tuleval-suvel
7. ERR in russian  http://rus.err.ee/599191/ttu-i-silberauto-podpishut-dogovor-o-sozdanii-bespilotnogo-avtomobilja
8. Õhtuleht online  http://www.ohtuleht.ee/808294/ohtulehe-video-varsti-pole-juhiluba-vajagi-eesti-insenerid-alustasid-isejuhtiva-auto-ehitamist
9. Õhtuleht http://www.ohtuleht.ee/808551/eesti-esimene-oma-isesoitja-alustab-juba-tuleval-suvel
10. Õpetajate Leht online  http://opleht.ee/2017/05/opetajate-leht-2-juunil/
11. Äripäev online  http://www.logistikauudised.ee/uudised/2017/05/31/ttu-ja-silberauto-asuvad-arendama-isejuhtivat-soidukit
12. Arvutimaailm online  http://station.ee/#15389915

Paper

1. Linnaleht (Tallinn, vene keeles)  http://station.ee/#15467887
2. Linnaleht (Ida-Viru, vene keeles)  http://station.ee/#15467355
3. Linnaleht (Tallinn)  http://www.linnaleht.ee/808551/eesti-esimene-oma-isesoitja-alustab-juba-tuleval-suvel
4. Linnaleht (Tartu-Pärnu)  http://www.linnaleht.ee/808551/eesti-esimene-oma-isesoitja-alustab-juba-tuleval-suvel
5. Eesti Päevaleht  http://station.ee/#15423653
6. Õpetajate Leht  http://station.ee/#15454700
7. Õpetajate Leht   http://station.ee/#15468634
8. Nelli Teataja  http://station.ee/#15470671
9. Artikkel Inseneerias