Team A1: Cooperative vs Non-cooperative Autonomous Driving

added function withinIntersection which checks whether a vehicle is within the intersection to allow for detection of cars from different lanes
Ran tests under multiple scenarios to test robustness of the simulation/IDM
Experimented with different hyperparameters such as max number of cars passing the intersection

Fixed bugs for demo
- Projected vehicles from other track onto current track in order to prevent intersection collisions
- Defined a max acceleration based on velocity difference and distance between current vehicle and next vehicle
Prepared results and analyzed in Excel
Made slides for final presentation
Added test cases for more extensive results
Wrote simulation testing program that removed graphics so tests could run much faster
- Internal program time was decoupled from system time

Fixed intersection collision bug
- Added a check if vehicle is within intersection
Added safe following car model in cooperative mode
- Fixed bug with max acceleration in car following model
Updated buffer distance in non-cooperative mode
Added time feature for separate behavior for simulation and test cases
Made test case results for demo
- Worked on how to present demo
Worked on final presentation

Continue to improve and build our test cases
Added timing feature for result testing
- For the video/simulation, system time would be used to determine speed
- For test results, a timer counter is used (independent of system time), thus each update is 0.015 seconds
Made test results to show for demo
- Worked on how to present demo
Worked on making final presentation

Tuned weight parameters to boost priority for vehicles closer to the intersection.
V2V Communication
- Added functionality for a vehicle to communicate its presence to the preceding vehicle after reaching a certain threshold distance to the intersection.
- Implemented information relay so vehicles can pass on information to the foremost vehicle in a lane.
- Incorporated communication latency into v2v communication

Updated timer to be consistent with global python time function
Updated path planning code in cooperative case to incorporate chains
- Minimize following distance in the cooperative case
Included other statistics in output file (i.e. average velocity, acceleration, deceleration, waiting time, etc)
Worked on merge functionality for 2 lane track before focusing objective towards optimizing figure-8 track (no longer doing the 2 lane though)
Change the weighting in the path planning algorithm
Run test cases to collect results for each case
Fix bug for vehicles in both tracks in the intersection

Fix bug in car following chain model
Fix bug for vehicles in both tracks in the intersection
Refine testing code for final demo
- start/stop, display detection radius in testing mode, etc.
Determine what measurements would be good to display/record
Run tests to get results and compare measurements
Experiment with different sized cars

Posts