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[ Knowledge Base : W20.3 Path Planning EOC ]

Created by [ Charles Zhang] on Mar 12, 2020

Link to EOC guide

Heading

Name: Charles Zhang

Date: March 12, 2020

Development Cycle: 3

Division: Software 

Group: Path Planning

Status

[Green]

Big hustle to get stuff done this dev cycle, good progress!

Goals for this dev cycle

Trajectory: Finish frenet

Behavioural: Finish HD map interface

Global Planning: Run in sim w/ behavioural

MPC: Bugfixing, velocity following

Simulation: Start investigating Prescan

\

OKR Timeline Progression

[W20.O1] Trajectory Planning

[W20.O1.KR1] Frenet Obstacle Avoidance

75% -> 80% Complete

• Working in the car. Needs tuning
• Milestone is end of dev cycle 3

[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% → 80% complete

Pretty much done, need to add intersection positions, turn types and confirm interface with behavioural

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

[W20.O1.KR5] Create SD maps

0% → 0% complete

• Bit behind on track for milestone for a working prototype of global planner: End of dev cycle 2, pushing back to Dev Cycle 3
• 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% → 20% complete

• Carter is working on a state machine/architecture for this

[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

80% → 80% complete

• No progress from last update. 
• Some errors show up when we're parked (NAN gradient), will be fixed

[W20.O4] Simulation Challenge

50% → 50% complete

• Blocked on prescan

[W20.O5] Costmap Occupancy Grid

30% → 30% complete

Costmap works. Need to:

• Add lidar preprocessing and cleaning
• Ground plane rejection
• Change novatel to have 0 z axis

[W20.O6] Behavioural Planner

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

• In progress. Two architectures of SD map, one using stitching and one using PP graph traversal.
• Need to iron out 
• Milestone: Dev Cycle 2 → 3

[W20.O6.KR2] Improve Lane Changing

80% → 80% complete

• Spencer is working on it. Complex behavioural logic to have smarter lane changing on a behavioural level
• Milestone for completion: End of Dev Cycle 2 → 3

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

[W20.O6.KR4] Verify Dynamic Obstacle behaviour

• Bug in the pedestrians
• SEVERLY blocked by lack of accurate tracking

[W20.O7] Infrastructure

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

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: 9/11 = 80%

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 and UI | | | =”color | | | | : rgb(0 | | | | ,255,0) | | | | ;”} | | +———-+———+————————————————-+ | Anqi Wu | Meet | Helping ben work on frenet | +———-+———+————————————————-+ | Sepehr | Meet | Blocked by lack of prescan | +———-+———+————————————————-+ | Mohammed | Meet | Advising on MPC | +———-+———+————————————————-+ | 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 | Left | Finished onboarding | | Lau | team | | +———-+———+————————————————-+ | David | Left | Working on misc global planning tasks | | Zhu | team | | +———-+———+————————————————-+ | Connor | Exceed | Finished trajectory following in MPC | | Adams | | | +———-+———+————————————————-+ | Ray Li | Left | Worked on blinkers. Working on behavioural | | | team | 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);” | | | | title=” | | | | “} | | +———-+———+————————————————-+ | Vinyak | [Left | \ | | Sharma | the | | | | team | | | | after | | | | Dev | | | | 0]{styl | | | | e=”colo | | | | r: rgb( | | | | 255,0,0 | | | | );” | | | | title=” | | | | “} | | +———-+———+————————————————-+ | Peter | [Left | \ | | Ralbovsk | the | | | y | team | | | | after | | | | Dev | | | | 0]{styl | | | | e=”colo | | | | r: rgb( | | | | 255,0,0 | | | | );” | | | | title=” | | | | “} | | +———-+———+————————————————-+ | Wenrui | [Haven\ | \ | | | ‘t | | | | seen | | | | him]{st | | | | yle=”co | | | | lor: rg | | | | b(255,0 | | | | ,0);” | | | | title=” | | | | “} | | +———-+———+————————————————-+

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