Evaluate path planner and vehicle controller for automated parking · 37 Evaluate Path Planner and...
Transcript of Evaluate path planner and vehicle controller for automated parking · 37 Evaluate Path Planner and...
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1© 2019 The MathWorks, Inc.
Evaluate Path Planner and Controller for Automated
Parking
Shusen Zhang
Application Engineering, MathWorks
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Learn about path planning with these examples
MATLAB
example
Simulink test
bench
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Learn about path planning with these examples
How robust is the
algorithm?
How can I handle
moving pedestrian
How can I automate
the tests?
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Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
▪ Improve design to handle moving pedestrian
▪ Test automation for regression tests
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Requirement 1: vehicle can only move forward
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Requirement 2: vehicle can’t cross parking lanes
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Requirement 3: algorithm must be able to handle loop.
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Baseline model in the product
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Single test case in the baseline model
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Software model
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Main modules
Planning
Inflation
Collision
Checking
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Main modules
PlanningControlPath
Analyzer
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Explore baseline behavior with multiple goal poses
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Explore behavior with single goal pose
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Explore behavior with single goal pose
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Changing testing condition
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Explore behavior with goal pose that generates a loop in path
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Isolate issue based on simulation results
Planner
finds the
goal
Controller
is mostly
tracking
Path
Analyzer
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Existing path analyzer
▪ Find a point on the path for the vehicle to follow
Minimum
distance to entire
path
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Existing path analyzer
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Modified path analyzer
▪ Find a point on the path for the vehicle to follow
Incremental
projection
Ref Path
i
i+1
i+2
i-1
u
u = 1
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Modified path analyzer
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Explore behavior with improved path analyzer
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Reduce turning radius and speed
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Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
– Remove intermedia points
– Specify different parking maps and spots
– Identify design issue and improve the design.
▪ Improve design to handle moving pedestrian
▪ Test automation for regression tests
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Build test bench to test dynamic scenario
Scenario Authoring
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Identify changes to react to pedestrian 1. Update map
based on
scenario
2. Aware of
potential
collision3. React to
imminent
collision
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Update map based on scenario1. Update map
based on
scenario
2. Aware of
potential
collision3. React to
imminent
collision
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Update map based on scenario
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Identify changes to react to pedestrian 1. Update map
based on
scenario
2. Awareness of
potential
collision3. Action with
potential
collision
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Awareness of potential collision
Time-to-
collision
calculation
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Time-to-collision with known path
Reference
Actual
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Identify changes to react to pedestrian 1. Update map
based on
scenario
2. Awareness of
potential
collision3. Action with
potential
collision
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Action with potential collision
▪ Reduce speed when TTC is low
Time to collision
Input
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Test in dynamic environment
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Improve design to handle pedestrians
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Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
– Remove intermedia points
– Specify different parking maps and spots
– Identify design flaws and improve the design.
▪ Improve design to handle moving pedestrian
– Add moving pedestrian
– Create costmap from ground truth
– Reduce speed based on time-to-collision
▪ Test automation for regression tests
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Automate regression testing
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Test assessment metrics
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Test assessment metrics
Trajectory
Reference
PointDistance
Metric
Yaw Metric
TTC Metric
Pedestrian
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Test iteration
▪ Tests definition and test management
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Testing multiple goal poses
Pedestrian
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Automate regression testing
▪ Use test manager to inspect reason of failed test. Yaw Metric
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Automate regression testing
Less deviation
with higher
gain
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Automate regression testing
Re-planning
and latency
Environment
model
uncertainty
Complex
parking lot
Backward
motion
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Automate regression testing
……………………….
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Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
– Remove intermediate points
– Specify different parking maps and spots
– Identify design flaws and improve the design
▪ Improve design to handle moving pedestrians
– Add moving pedestrian
– Create costmap from ground truth
– Reduce speed based on time-to-collision
▪ Test automation for regression tests
– Add metrics for planner and controller
– Add test case definition/ management