watonomous.github.io

[ Knowledge Base : W20.1 Path Planning EOC ]

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

Link to EOC guide

Heading

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

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% → 0% complete

[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.
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

Blocked by global planner
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

N/A This dev cycle

Core Member Engagement

Group Engagement Rate: (12 - (1)) / 12 = 91%

Link to engagement level guideline

+———-+———+————————————————-+ | Name | Engag | **Activity Summary | | | ement | | | | Level** | | +———-+———+————————————————-+ | John | [Exceed | Completed global planning turn by turn routing | | Philips | ]{style | from start to destination | | | =”color | | | | : rgb(0 | | | | ,255,0) | | | | ;”} | | +———-+———+————————————————-+ | Anqi Wu | Meet | Helping ben work on frenet | +———-+———+————————————————-+ | Sepehr | Meet | Onboarding onto simulation | +———-+———+————————————————-+ | Mohammed | Meet | Advising on MPC, working on smoother steering | | | | through low pass filter | +———-+———+————————————————-+ | Tyson Li | Meet | Advising on frenet planner | +———-+———+————————————————-+ | Ben | [Exceed | Pretty much completed the frenet planner | | Zhang | ]{styl | | | | e=”colo | | | | r: rgb( | | | | 0,255,0 | | | | );”} | | +———-+———+————————————————-+ | Spencer | [Meet]{ | Started work on detecting blocked lanes | | Zhou | style=” | | | | color: | | | | rgb(0,5 | | | | 1,102); | | | | “} | | +———-+———+————————————————-+ | Anthony | Meet | Finished onboarding | | Lau | | | +———-+———+————————————————-+ | David | Meet | Working on misc global planning tasks | | Zhu | | | +———-+———+————————————————-+ | Connor | Meet | Improving trajectory following in | | Adams | | | +———-+———+————————————————-+ | Ray Li | Meet | Worked on blinkers. Working on behavioural | | | | planner's SD / HD map interface. | +———-+———+————————————————-+ | Lilly Li | [Left | Not enough time this term | | | the | | | | team]{s | | | | tyle=”c | | | | olor: r | | | | gb(255, | | | | 0,0);”} | | +———-+———+————————————————-+ | Vinyak | [Left | \ | | Sharma | the | | | | team | | | | after | | | | Dev | | | | 0]{styl | | | | e=”colo | | | | r: rgb( | | | | 255,0,0 | | | | );”} | | +———-+———+————————————————-+ | Peter | [Left | \ | | Ralbovsk | the | | | y | team | | | | after | | | | Dev | | | | 0]{styl | | | | e=”colo | | | | r: rgb( | | | | 255,0,0 | | | | );”} | | +———-+———+————————————————-+ | Wenrui | [Haven\ | \ | | | ‘t | | | | seen | | | | him]{st | | | | yle=”co | | | | lor: rg | | | | b(255,0 | | | | ,0);”} | | +———-+———+————————————————-+

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