watonomous.github.io

[ Knowledge Base : W20.0 Path Planning EOC ]

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

Link to EOC guide

Heading

Name: Charles Zhang

Date: January 29, 2020

Development Cycle: 0

Division: Software

Group: Path Planning

Status

[GREEN]

OKR Timeline Progression

[W20.O1] Trajectory Planning

[W20.O1.KR1] Frenet Obstacle Avoidance

0% -> 10% Complete

[W20.O1.KR3] Spline creation

0% -> 10% Complete

Ben, Anqi, and Tyson are reading through sample code provided by Tyson (CppRobotics) implementing spline creation and frenet planning.
Ambitious milestone for a prototype is End of dev cycle 1

[W20.O2] Routing

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

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

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

[W20.O1.KR5] Create SD maps

0% → 0% complete

John, David, and Lilly are still onboarding on the global planner code.
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

0% → 10% complete

Talked with CAN interfacing about gear change requirements.

[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

0% → 20% complete

Connor is working on this. Tried some experimental fixes at the test track
Milestone for this OKR is 2 dev cycles.
Currently blocked by lack of knowledge of how we should solve the problem. Will talk to Mohammed Daoud, Tyson, and other Mohamed
Milestone for proper braking: End of dev cycle 1

[W20.O4] Simulation Challenge

0% → 10% complete

Charles is working on connecting a MATLAB/SIMULINK vehicle model to our ros nodes. We can use this for closed-loop testing using RVIZ as a visualizer
Need to investigate resources that MATLAB provided in the simulation workshop
Using a simulink vehicle model seems completely feasible, and will probably encompass the extent of our simulation challenge efforts. Stretch goal would be to write a parser for the scenario builder, but currently seems like more work than it's worth
Milestone for vehicle model completion: End of dev cycle 1

[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

Blocked by global planner
Milestone: Dev Cycle 2

[W20.O6.KR2] Improve Lane Changing

0% → 20% complete

Talked with CAN about blinkers
Ray is working on blinker logic
Spencer has begun work on lane-changing obstacle avoidance
Milestone for prototype: End of Dev Cycle 1
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

0% → 80% complete

Unit tests for Trajectory Planner, Behavioural Planner, Occupiable objects are done.
John is still working on getting unit tests for Global planner.
Deadline: End of dev cycle 1

[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

N/A This dev cycle

Core Member Engagement

Group Engagement Rate: (15 - (1 + 2)) / 15 = 80%

Link to engagement level guideline

+——–+————–+———————————————-+ | Name | **Engagement | **Activity Summary | | ** | Level** | | +——–+————–+———————————————-+ | John | [Exceed]{sty | Building unit tests for global mapping, unit | | Philip | le=”color: r | testing | | s | gb(0,255,0); | | | | “} | | +——–+————–+———————————————-+ | Anqi | Meet | Helping Ben onboarding with Frenet Planner | | Wu | | | +——–+————–+———————————————-+ | Sepehr | Meet | Onboarding onto simulation | +——–+————–+———————————————-+ | Mohamm | Meet | Advising on MPC | | ed | | | +——–+————–+———————————————-+ | Tyson | Meet | Advising on spline trajectory planner | | Li | | | +——–+————–+———————————————-+ | Ben | [Exceed ]{st | Wrote unit tests for trajectory planning. | | Zhang | yle=”color: | Investigating Frenet planner | | | rgb(0,255,0) | | | | ;”} | | +——–+————–+———————————————-+ | Spence | [Exceed]{sty | Wrote unit tests for behavioural, started | | r | le=”color: r | work on lane-changing obstacle avoidance | | Zhou | gb(0,255,0); | | | | “} | | +——–+————–+———————————————-+ | Lilly | Meet | Still onboarding | | Li | | | +——–+————–+———————————————-+ | David | Meet | Still onboarding | | Zhu | | | +——–+————–+———————————————-+ | Connor | Meet | Trying to fix braking in MPC | | Adams | | | +——–+————–+———————————————-+ | Ray Li | Meet | Did a couple misc tasks for rviz, working on | | | | blinker logic | +——–+————–+———————————————-+ | Anthon | Meet | Still transitioning / onboarding from infra | | y | | to path planning. Will probably be working | | Lau | | with sepehr/charles on simulation | +——–+————–+———————————————-+ | Vinyak | [Probably | Too busy this term with FYDP, don't really | | Sharma | won't be | expect him to help out. I'll talk to him | | | working on | about it later this week (Don't send a | | | the | warning) | | | team]{style= | | | | “color: rgb( | | | | 255,0,0);”} | | +——–+————–+———————————————-+ | Peter | [Left the | Doesn't have enough time. Remove from team. | | Ralbov | team]{style= | | | sky | “color: rgb( | | | | 255,0,0);”} | | +——–+————–+———————————————-+ | Wenrui | [Haven't | Haven't seen him all term | | | seen | | | | him]{style=” | | | | color: rgb(2 | | | | 55,0,0);”} | | +——–+————–+———————————————-+

Comments:

+———————————————————————–+ | [] | | | | Charles | | Zhang{.confl | | uence-userlink | | .user-mention} Can you also report on your tech leads since that's | | like half your group lol. don't worry, they cant see this | | doc (smile) {.emoticon | | .emoticon-smile} | | | | {.smallfont align=”left” style=”color: #666666; width: 98%; margi | | n-bottom: 10px;”} | | | | Posted by r2dempst at Feb 12, 2020 22:57 | | | +———————————————————————–+ | [] | | | | Done (smile) {.emoticon | | .emoticon-smile} | | | | {.smallfont align=”left” style=”color: #666666; width: 98%; margi | | n-bottom: 10px;”} | | | | Posted by cy9zhang at Feb 12, 2020 23:14 | | | +———————————————————————–+

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