watonomous.github.io

1. Software Division
2. Software Division Home
3. Path Planning Group
4. Behavioral

[ Software Division : Behavioral State Machine ]

Created by [ Carter Pearson], last modified on Mar 10, 2020

[

https://drive.google.com/a/watonomous.ca/file/d/1-hcFxM_Hh7Rz_jctfwi9ySovg1WW6Hx2/view?usp=sharing

Descriptions of state actions:

• Start-up

  • Initial state of the vehicle
  • After start-up procedure, transition into park (if there's no start-up procedure, will immediately transition to park)

• Park

  • Force apply full braking torque 
  • Shift gear to park
  • [Override all torque and steer requests (do not allow MPC to control anything in this state)]{.inline-comment-marker data-ref=”5678719c-613c-4483-a5b5-ce982c93032a”}

• Follow lane

  • Trajectory being created is sent to MPC
  • Update max velocity based on speed limit
  • Draw stop lines based on environment

• Lane change

  • [Requests lane change trajectory be calculated]{.inline-comment-marker data-ref=”c1ee78fd-b92f-4c70-877c-318929731c35”}
  • Keep max velocity constant
  • MPC will follow lane change trajectory

• [Intersection]

  • [Same behaviour as follow lane, but we restrict lane changing]{.inline-comment-marker data-ref=”b71c5aeb-60fe-4e02-988e-5f5cf7900625”}
  • Enable correct turn signal

• Waiting

  • Keep in drive gear
  • Force apply full braking torque
  • Override all torque and steer requests from MPC
  • [Monitor stop line's status]{.inline-comment-marker data-ref=”0f203b7b-f47d-43ee-8dad-bbe59a7300d2”}
  • After stop line is cleared, have to wait for a timeout until state can be transitioned out of

• Stopping

  • [Force minimum amount of braking torque,]{.inline-comment-marker data-ref=”3da5745e-1ce1-4b1f-8211-f6ed13b890d3”} but still allow for MPC to provide control otherwise

Previous state machine: https://drive.google.com/a/watonomous.ca/file/d/1yqzuB7_qgV_pUgb-sGIl3cn5LlensRSI/view?usp=sharing

Attachments:

BehaviouralStateMachine_v1.png (image/png)
BehaviouralStateMachine_v1 (1).png (image/png)\

Document generated by Confluence on Dec 10, 2021 04:01

Atlassian