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[ Software Division : W20.1 Path Planning EOC ]

Created by [ Charles Zhang], last modified on Feb 12, 2020

Link to EOC guide

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Name: Charles Zhang

Date: Feb 11, 2020

Development Cycle: 1

Division: Software 

Group: Path Planning

Status

[YELLOW]

Bit behind on behavioural planner. Goin there

Goals for this dev cycle

Trajectory: Full obstacle avoidance prototype

Behavioural: Lane blockages + Interface with global planning

Global Planning: Basic interface with Behavioural

MPC: Smoother acceleration, braking

Simulation: Start investigating Prescan

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OKR Timeline Progression

[W20.O1] Trajectory Planning

[W20.O1.KR1] Frenet Obstacle Avoidance

10% -> 75% Complete

• Ben has completed frenet frame transformations, need to integrate and check the actual obstacle avoidance cost function
• Milestone is end of dev cycle 2

[W20.O1.KR3] Spline creation

0% -> 100% Complete

• done!

[W20.O2] Routing

[W20.2.KR1] Modify routing algorithm to tag the intersections

0% → 100% complete

• Done

[W20.O1.KR2] Communicate waypoints (intersections) with behavioural planner

0% → 30% complete

• Charles worked on messages and integration

[W20.O1.KR3] Update Global Map using HD Map roundabouts and signs

[W20.O1.KR5] Create SD maps

0% → 0% complete

• Still on track for milestone for a working prototype of global planner: End of dev cycle 2
• Intersection behaviour is blocked by processing HD map parsing and filtering

[W20.O1.KR4] Stop and shift into park for 5s once you’ve reached a destination

10% → 10% complete

• No updates

[W20.O3] Feedback Controllers

[W20.O3.KR1] Add obstacle avoidance to MPC code

0% → 0% complete. Not currently a priority

[W20.O3.KR2] Investigate and improve braking

20% → 80% complete

• Braking works. Need to make it smoother by tuning the vehicle torque model
• Talked with Mohammed about improving 
• Strat: Increase refresh rate of MPC to 20hz, Apply low pass filter

[W20.O4] Simulation Challenge

0% → 50% complete

• Matlab Vehicle model is complete.
• Looking into Prescan simulation

[W20.O5] Potential Fields

0% → 0% complete

On pause as we think that the frenet planner will be a better choice. Will work on potential fields once MPC braking is fixed

[W20.O6] Behavioural Planner

[W20.O6.KR1] Integrate lane changing with Global Planner

• Charles started working on integration code in behavioural planner, deciding what lane to go to
• Milestone: Dev Cycle 2

[W20.O6.KR2] Improve Lane Changing

20% → 80% complete

• Still need to test blinking
• Spencer is working on checking if a lane is blocked
• Charles is working on lane changing logic
• Milestone for completion: End of Dev Cycle 2

[W20.O6.KR3] Implement lane logic based on lane type

[W20.O6.KR4] Verify Dynamic Obstacle behaviour

• All blocked by Perception/processing no traffic lights or processing HD map filtering.
• No members currently assigned to this task (TBD)

[W20.O7] Infrastructure

[W20.O7.KR1] Create Unit Tests for ros nodes

80% → 100% complete

[W20.O7.KR2] Create Integration tests to replace autonomous mode pre-checks 

[W20.O7.KR1] RViz Improvements

• These are to be handed off to Infra

Link To Retrospective

Retro

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

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