Month: March 2020

• Connected graphics code to path planning code
  • Redesign classes to be more modular and compatible
• Made adding vehicles on the track customizable
  • User can click anywhere on the track and have a car oriented appropriately
  • Added information at the bottom of the screen for future reference
• Implemented simple non-cooperative and cooperative path planning algorithm
• Discussed alternative track configurations to explore

Updated Risk Management Plan

Having completed simple graphics and path planning algorithms, our upcoming tasks will be primarily optimization, enhancing our graphics, and possibly implementing another track design. In terms of optimization, the potential risks are that the cooperative approach simply does not see a significant increase in throughput compared to the non-cooperative case. This might be explained by the simplicity of the one lane figure-8 track design. And therefore, we would need to experiment with other designs where the difference might be more noticeable, specifically a two-lane approach. In addition to another design, we were considering displaying each vehicle’s decision making data to highlight the differences between approaches. We thought this would be more informative than just the visual of the vehicles moving along the track. Because we have gotten a good head start on the figure-8 track, we should be able to determine results within the next week, giving us plenty of time to implement another design with added complexity. Furthermore, while Tito and Kylee will be experimenting with fine-tuning parameters, Serris will continue to update the graphics to provide a more informative and maybe interactive report of the system.

• Built Cooperative path planning environment class
  • controls vehicle movements based on othetor vehicle locations and cooperative strategy
  • Current fairness strategy prefers vehicles from a longer queue but can scale to a more complex strategy given a set of features.
  • Environment continuously selects a single vehicle to pass through the intersection (of a figure 8 track)
  • Path planning class allows for a different number of cars on either track
• Integrated path planning class with graphic simulation so that at every time step it takes as an input the vehicles on the track and updates their locations.
• Tested performance of graphic simulation with PP class and it seems to work fine
• Fixed a bug where certain cars could pass through other cars
• TODO
  • Incorporate vehicle acceleration/deceleration to allow for smoother movement as opposed to the vehicles coming to an abrupt stop.
  • Investigate better fairness strategies to decide vehicle to pass through the intersection

 

• Decided on reasonable real world parameters based on papers read
• Implemented the Intelligent Driver Model using these parameters
• Analyzed the graphics and created a scale to convert pixels to meters
• Cleaned up, modularized, and corrected graphics and vehicle code in existing codebase
• Integrated the planning code with the graphics and vehicle code and tested
• Worked on Risk Management Plan and updated Gantt Chart

• Planned for added complexities for our repurposed project
• Wrote the Statement of Work
• Participated in 3 meetings with the group to discuss project
• Helped design the graphics code (ie. modularize, integrate with path planning, etc.)
• Continued to research non-cooperative path planning
  • Ie. Trying to relate the purely simulated data such as pixels and angles with the equations that use real world measurements like meters per second.
• TODO next week:
  • Start to implement simple planning code that stops when obstacle is sensed.

• Finalized new design to be simulated completely on software
  • Revised each member’s tasks/responsibilities
  • Discussed new goals and priorities
• Completed Statement of Work
• Conducted 3 meetings to devise a plan, split up responsibilities, and get some work started
• Started designing graphics for simulation
  • Established car and track graphics
  • Modularized code to be compatible with previous path planning scripts
• TO DO next week:
  • Finish basic simulation graphics (i.e. turn right, stop)
  • Test non-cooperative path planning algorithms on simulation

• Met with team members to discuss the rescoping of our project and redistributed tasks.
• Detailed project restructuring in the new design report
• Created a high-level processing pipeline for cooperative path planning
  • Identified useful cooperative signals for different track designs
• TODO:
  • Write starter code for cooperative v2v communication
  • Integrate path planning code with graphic simulation