TechReport-TUBS · Technische Universit¨at Braunschweig Informatik-Berichte ab Nr. 2005-03 2005-03...
Transcript of TechReport-TUBS · Technische Universit¨at Braunschweig Informatik-Berichte ab Nr. 2005-03 2005-03...
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6 6 2 3
5 3 3 6
3 4 5 6 2
2 5 4 3
1 6 3
3 5
1
2
3
4
5
6
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Thomas Form(Technical Project Leader)
Bernhard Rumpe(Project Leader)
Fred Rauskolb(Formal Team Leader)
Christian Berger(Team Leader)
Steering CommitteeThomas Form Peter Hecker Marcus Magnor Bernhard Rumpe Walter Schumacher Lars Wolf
Vehicle Control/ Hardware
• Jörn Marten Wille
• Karsten Cornelsen
• Michael Doering
• Johannes Morgenroth
Perception&Sensors• Jan Effertz
• Fabian Graefe
• Sebastian Ohl
• Christian Lipski
• Wojciech Derendarz
• Kai Berger
• Felix Klose
Reasoning&Planning
• Kai Homeier
• Tobias Nothdurft
• Christian Basarke
• Sebastian Ohl
• Andreas Donners
• Andre Steinert
QA/Simulation• Christian Berger
• Christian Basarke
• Tim Gülke
Marketing/PR• Joop Flack
• Hendrik Stöcker
• Manuel Juhrs
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•
•
•
•
•
•
•
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ECU ECU
ECU ECU
Front Data Acquisition
Rear Data Acquisition
Tracking + Data Fusion
front
rear
ColorAnalysis
Object Data
Object Data
CA
NC
AN
Eth
ern
et
StereoPreprocessing
Grid Fusion
Drivability,Height Profile
Surface Data, Classification
Classification Surface Data
Laserscanner Front
Extended Kalman FilterPretracking
Data Association
Laserscanner Rear Radar Front Radar Rear
Track Database
Fusion Input Queue
...
Track ID 0
Track ID 1
Track ID 2
Track ID 3
Pretrack Database
...
Pretrack ID 0
Pretrack ID 1
Pretrack ID 2
Pretrack ID 3
TrackInitialization
Sensor Sweeps
Data Acquisition, Timestamping and Transformation
Lidar Front Lidar Rear
Track Managment
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wi,j = a · min[|xik − xj
l |,∀k, l] + b · |vi − vj|wi,j i j
vi vj xik xj
l kth lth
i j a b
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Ω =
⎡⎣
|xi1 − xj
1| . . . |xi1 − xj
l |. . . . . . . . .
|xik − xj
1| . . . |xik − xj
l |
⎤⎦
x6D =
⎛⎜⎜⎜⎜⎜⎜⎝
x1...n
y1...n
vaαω
⎞⎟⎟⎟⎟⎟⎟⎠
x1...n y1...n
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x4D =
⎛⎜⎜⎝
x1...n
y1...n
va
⎞⎟⎟⎠
y =
⎛⎜⎜⎝
x1...m
y1...m
vx
vy
⎞⎟⎟⎠
x1 y1 vx vy x y xy
xk(v + 1|v) = f(xk(v))
P (v + 1|v) = F T · P · F + Q
sk,l = yl(v + 1) − h(xk(v + 1|v))
S(v + 1) = H · P (v + 1|v) · HT + R
K(v + 1) = P (v + 1|v) · HT · S(v + 1)−1
rk,l(v + 1) = K(v + 1) · sk,l(v + 1)
xk k f(x)P F
Q sk,l
k l yl
l h(x)S H R
K rk,l
k l
rk,l
rk,l
rmean =1
N
N∑k,l=1
rk,l
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N
rmean
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a O(a)
•
•
•
•
•
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•
••
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old values
sensor origin
target point
new values
m∗c(A) = mc(A)
⊕mm(A) =
1
1 − K
∑B∩C=A�=∅
mc(B)mm(C),
mc mm m∗c
A B CK
K =∑
B∩C=∅mc(B)mm(C).
mm
Pd
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D U N
mm(D) = Dmax · Pd,
mm(N) = (1 − Dmax),
mm(U) = 1 − mm(D) − mm(N).
Dmax
+
∂h∂x∂y
mm(D) =
⎧⎪⎪⎪⎨⎪⎪⎪⎩
Dmax,∣∣∣ ∂h∂x∂y
∣∣∣ ≤ GDmax
0, GDmax <∣∣∣ ∂h∂x∂y
∣∣∣ ≤ GUmin
0,∣∣∣ ∂h∂x∂y
∣∣∣ > GUmin
mm(U) =
⎧⎪⎪⎪⎨⎪⎪⎪⎩
0,∣∣∣ ∂h∂x∂y
∣∣∣ ≤ GDmax
Umax
GUmin−GDmax
·(∣∣∣ ∂h
∂x∂y
∣∣∣ − GDmax
), GDmax <
∣∣∣ ∂h∂x∂y
∣∣∣ ≤ GUmin
Umax,∣∣∣ ∂h∂x∂y
∣∣∣ > GUmin
mm(N) = 1 − mm(D) − mm(U),
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Dmax Umax
GDmax
GUmin
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fego : pcar �→ pworld pcar
pworld
Itele > Imiddle > Ileft > Iright
vdiff
vdiff = vmax − vmin
bdiff
bhigh blow
blow bhigh
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bhigh
si
li wi di = αi − αi−1
c0 lidi pi αi
lpfego : pcar �→ pworld
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tcon, thist, tdir tcol
q a ∈ {0, 22.5, ..., 157.5}c ∈ {white, yellow, undecided}
vdiff = vmax − vmin vmax vmin
vdiff < tcon
bhigh blow
bdiff = bhigh − blow
bdiff < thist
phigh bhigh
R phigh
rmax amax
i = 0; i <= 157.5; i = i + 22.5phigh R i r = V ar(X)
V ar(Y )
rmax < tdir
qwhite = bdiff awhite = amax
qyellow = bdiff ayellow = amax
qwhite > tcol qwhite > qyellow
c = white a = awhite
qyellow > tcol qyellow > qwhite
c = yellow a = ayellow
q = max(qwhite, qyellow)
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blow bhigh
bhigh
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outer left left right outer right
sf
s0 ← sf sf si
αi si
si αi
pi si di
wi px py
gi = mi/liwi
gi wi nsi q
outer leftleft right outer right tq
si+1
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si
pi αi li lgap si
αi
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+
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PScanner
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10
1
1
min(R,G)B
− 1
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t t + 1
x
p(x, y)ymax
Pboundary
Pbumper
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Pbumper
Pbumper
pixelSum weightedP ixelSumX weightedP ixelSumY
pixelSum
x Pbumper
weightedP ixelSumXy Pbumper
weightedP ixelSumY
xmoment = weightedPixelSumXpixelSum ymoment = weightedPixelSumY
pixelSum
xmoment Pbumper
x ymoment
Pbumper yxmoment ymoment Pbumper
Pbumper
Pbumper Pboundary
xmoment ymoment
xmoment = 0 ymoment = 0xmoment = 0 Pbumper
Pboundary xmoment 1Pbumper −1
ymoment
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obstacle
obstacle
startpoint
curvatures
0
-0.1
+0.1
vote
•
•
•
•
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•
•
•
•
•
•
•
•
•
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STO
P
Queue Interrupt
IntersectionInterrupt
v
Planned Trajectory Points
s
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a)
b)
c)
d)
MM αA nM nM
MM(αA, nM , nM) =r
ηk ik(fR m g + cw A
ρ
2(nM 2 π R0
ik)2 + λ m
nM 2 π R0
ik)
P (s) =1
s (T s + 1)
T = 0.6s
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R0
rηk
ikfR
mgcw
Aρλ
K(s)
K(s)Lower Controller
Throttle
K(s)Lower Controller
Brake
CarolineDynamics
K(s)Upper Controller
Throttle
K(s)Upper Controller
Brake
vdesired
adesired
adesired
a v
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10002000
30004000
50006000
7000
0
20
40
60
80
1000
50
100
150
200
250
Engine Speed in RPM
Engine Map
Throttle in percent
Eng
ine
Tor
que
in N
m
0 2 4 6 80
2
4
6
8
10
12Example 1
Time t in sec
Spe
ed v
in m
/s
Actual SpeedDesired speed
0 1 2 3 4 50
2
4
6
8
10
12Example 2
Time t in sec
Spe
ed v
in m
/s
Actual SpeedDesired speed
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•••••
SP
xHF
yVF
VAl
HAl
l
)(mvFzent
v
xVF
yHF
V
˙ (t) = A (t) + B (t) + E (t), (0) = 0
ζdesired
κ v
ζdesired = κ · v
ψrel
ψ ζdesired
ψrel = ψ − ζdesired
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ψrel
ψrel = ψ − κ v
d vβ ψrel
d = v (β + ψrel)
TL
ψ β ψrel dδ
δdesired κ
⎛⎜⎜⎜⎜⎜⎝
ψ
β
ψrel
d
δ
⎞⎟⎟⎟⎟⎟⎠
=
⎛⎜⎜⎜⎜⎝
a11 a12 0 0 a15
a21 a22 0 0 a25
1 0 0 0 00 v v 0 00 0 0 0 − 1
TL
⎞⎟⎟⎟⎟⎠·
⎛⎜⎜⎜⎜⎝
ψβ
ψrel
dδ
⎞⎟⎟⎟⎟⎠
+
⎛⎜⎜⎜⎜⎝
0000iLTL
⎞⎟⎟⎟⎟⎠·δdesired+
⎛⎜⎜⎜⎜⎝
00−v00
⎞⎟⎟⎟⎟⎠·κ
a11 = −cαV l2V + cαH l2Hθ v
, a12 = −cαV lV + cαH lHθ
, a15 =cαV lV
θ
a21 = −1 − cαV lV − cαH lHm v2
, a22 = −cαV + cαH
m v, a25 =
cαV
m v
d
(t) =(
0 0 0 1 0)T
(t)
Fc(s) =iL
TL s + 1· a25s
2 + (a15 a21 + a15 − a25 a11) s + (a25 a12 − a25 a12)
s2 − (a11 + a22)s + (a11 a22 − a12 a21)· 1
s· v
s
Fnoise = −v
s· v
s
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cαV
cαH
lVlHθm
x y ψδ
K(s)
K(s)
Pilot Control
K(s)
Track Error
Track Angle
�
�
��
��
��
d
�
DesiredTrajectory
Position andOrientation
κ ≈ 0
v = 5020
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−300 −280 −260 −240 −220 −200 −180 −160 −140 −120 −100100
110
120
130
140
150
160
170
180
190
200Trajectory
x−Position in m
y−P
ositi
on in
mFinal Position
Starting Position
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0 5 10 15 20 25 300
5
10
15
20
25
30
35
40
45
50Speed Profile of the Track
Time in sec
Spe
ed in
km
/h
0 5 10 15 20 25 30−0.5
−0.4
−0.3
−0.2
−0.1
0
0.1
0.2
0.3
0.4
0.5Track Error
Time in sec
Tra
ck E
rror
in m
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CANlog III
CAN powertrain
CAN actorics
CAN controller
godisable
vehicle power
vehicle starter
monitoringcommunication
monitoring actorics state
controllingemergency brake
generating vehiclestate message
controlling horn, flashing beacon
emergency/parking brake
horn / warning beacon
Vehicle Controller
Car PC
Watchdogmonitoring heartbeats
sending autonomousmode demands
communicationinterface
connect
steering
braking throttle gear
vehicleinformation
controlling vehicle power, starter
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gateway
heartbeat/reset/suspend
slave daemon 2
process 1
pc n...
process 2
process n
star
t
hear
tbea
tki
ll
controller
CAN
actorics CAN
TCP/IP
relaisbox
for power shutdown
slave daemon 1
process 1
pc 1
process 2
process n
star
t
hear
tbea
tki
ll
slave daemon n
watchdogpc
process 2
process n
star
t
hear
tbea
tki
ll
wd master
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δti > 0
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•
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•
•
••
•
•
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+
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Technische Universitat BraunschweigInformatik-Berichte ab Nr. 2005-03
2005-03 T.-P. Fries, H. G. Matthies A Stabilized and Coupled Meshfree/Meshbased Methodfor the Incompressible Navier-Stokes Equations — PartII: Coupling
2005-04 H. Krahn, B. Rumpe Evolution von Software-Architekturen
2005-05 O. Kayser-Herold, H. G. Matthies Least-Squares FEM, Literature Review
2005-06 T. Mucke, U. Goltz Single Run Coverage Criteria subsume EX-WeakMutation Coverage
2005-07 T. Mucke, M. Huhn Minimizing Test Execution Time During TestGeneration
2005-08 B. Florentz, M. Huhn A Metamodel for Architecture Evaluation
2006-01 T. Klein, B. Rumpe, B. Schatz(Herausgeber)
Tagungsband des Dagstuhl-Workshop MBEES 2006:Modellbasierte Entwicklung eingebetteter Systeme
2006-02 T. Mucke, B. Florentz, C. Diefer Generating Interpreters from Elementary Syntax andSemantics Descriptions
2006-03 B. Gajanovic, B. Rumpe Isabelle/HOL-Umsetzung strombasierter Definitionenzur Verifikation von verteilten, asynchronkommunizierenden Systemen
2006-04 H. Gronniger, H. Krahn,B. Rumpe, M. Schindler, S. Volkel
Handbuch zu MontiCore 1.0 - Ein Framework zurErstellung und Verarbeitung domanenspezifischerSprachen
2007-01 M. Conrad, H. Giese, B. Rumpe,B. Schatz (Hrsg.)
Tagungsband Dagstuhl-Workshop MBEES:Modellbasierte Entwicklung eingebetteter Systeme III
2007-02 J. Rang Design of DIRK schemes for solving theNavier-Stokes-equations
2007-03 B. Bugling, M. Krosche Coupling the CTL and MATLAB
2007-04 C. Knieke, M. Huhn Executable Requirements Specification: An Extensionfor UML 2 Activity Diagrams
2008-01 T. Klein, B. Rumpe (Hrsg.) Workshop Modellbasierte Entwicklung voneingebetteten Fahrzeugfunktionen, Tagungsband
2008-02 H. Giese, M. Huhn, U. Nickel,B. Schatz (Hrsg.)
Tagungsband des Dagstuhl-Workshop MBEES:Modellbasierte Entwicklung eingebetteter Systeme IV
2008-03 R. van Glabbeek, U. Goltz,J.-W. Schicke
Symmetric and Asymmetric Asynchronous Interaction
2008-04 M. V. Cengarle, H. GronnigerB. Rumpe
System Model Semantics of Statecharts
2008-05 M. V. Cengarle, H. GronnigerB. Rumpe
System Model Semantics of Class Diagrams
2008-06 M. Broy, M. V. Cengarle,H. Gronniger B. Rumpe
Modular Description of a Comprehensive SemanticsModel for the UML (Version 2.0)
2008-07 C. Basarke, C. Berger, K. Berger,K. Cornelsen, M. Doering J.Effertz, T. Form, T. Gulke, F.Graefe, P. Hecker, K. Homeier F.Klose, C. Lipski, M. Magnor, J.Morgenroth, T. Nothdurft, S. Ohl,F. Rauskolb, B. Rumpe, W.Schumacher, J. Wille, L. Wolf
2007 DARPA Urban Challenge Team CarOLO -Technical Paper