Month: April 2020

• Added information detection radius feature
• Added mode button
  • Can toggle between cooperative and non-cooperative approach
• Added labels on cars
• Fixed bugs on vehicle collision case
• Added test case to compare throughput between cooperative and non-cooperative approach
  • Filtered test cases to ensure cars don’t overlap
• Started merge function for 2 lane track
• Changed timing so movement is consistent between machines
• TODO:
  • Change timing of tests to be more consistent with machines
  • Continue to work on implementing merge

• Fixed bug with figure 8 environment whereby more cars than allowed passed through the intersection
•  2 Lane environment
  • began working on planning for the 2 lane environment.
  • Implemented vehicle to vehicle communication mechanism which also incorporates communication latency
  • TODO:
    • Figure out the design of lane changing model and integrate with path planning code.
    • Decide on problem situations to account for e.g stopped vehicle, quickly accelerating vehicle etc.

• Refine car following model for cooperative approach
• Implement input and output files to codebase for ease of testing
• Refactored the existing code to include running the inputted testbench and saving the outputs
• Created test cases and ran tests to analyze results
• Fixed some bugs in the planning and Intelligent Driver Model code
• Help to identify and fix timing with simulation graphics
  • Use time elapsed between function calls to determine distance traveled by vehicles (distance = rate * time) to standardize the movement of cars
  • Makes the movement independent of what other tasks the CPU is running or how fast the CPU can execute the code

• Integrated path planning code with Intelligent driver model.
• Decided on Non Cooperative decision making:- To allow the car closest to the intersection to pass through. Ties are broken by the car in the left lane
• Implemented Non Cooperative decision making
• Parameter tuned for Cooperative case
• Discussed metrics to display on GUI such as total number of cars looping through the intersection.
• Updated GUI with timer, total loops, vehicle ID and intersection line
• Added functionality to outer lane of 2 lane track
  • TODO: still need to fix detection with 2 lanes
• TODO: Take measurements to compare the different approaches
• TODO: Add information constraints

Update: So far, we haven’t noticed a huge increase in throughput between the approaches. We will continue to fine tune our cooperative planning to get a better performance. However, we would like to experiment with a two-lane track to introduce lane changing to the demo. This is because with lane changing, vehicles can now change their speed and their path. This added component of path will be a lot more knowledge communicated in the cooperative case, which should yield a larger difference in performance.

• Fine tuned real world parameters for Intelligent Driver Model
• Modified Intelligent Driver Model code to include the intersection as an “obstacle” if vehicle does not have the right of way
• Cleaned up codebase in all files
• Integrated with path planning code
• Refine graphics and planning to get the code demo-ready
• TODO: Work on lane changing model for two lane implementation
  • Reason for implementing two lanes included in team status report

• GUI additions:
  • Total loops counter: counts number of times each vehicle passes the intersection (better for visual representation)
  • Timer: “s ” to pause/resume, “r” to reset
  • Finish line for visual
• Added cars to outer lane of 2 lane track
• Continue to modularize code as changes to path planning algorithms are being made
• TODO:
  • Show information detection radius
  • Add toggle button for cooperative and non-cooperative case
  • Give more information on decision making for each vehicle

• Cooperative Case improvements
  • updated cooperative decision making to allow multiple cars from one lane to pass through the intersection.
  • Factors in the spacing between cars to determine if it will be beneficial to allow multiple cars passage.
  • Fine-tuned parameters for decision making such as car separation, distance to intersection with which a car is considered to be approaching the intersection, etc.
  • Refactored code to work better with intelligent driver model.
• Non Cooperative Case
  • Added functionality for the non-cooperative case which simply gives right of way to the car closest to the intersection. If there’s a tie, the left car gets the right of way.