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The goal of the project is to set up an experiment that proves the effectiveness of an algorithm for collision avoidance at intersections. Three cars run on a test-bed following three different paths that all intersect in a single point. Cars are controlled by an on-board computer. Cars positions are measured by six cameras on the ceiling. Cars speed can be measured by an encoder mounted on the rear axis.
The algorithm requires the prediction of the time at which a car enters and exits the intersection. For this reason disturbances and the input signal is assumed to be monotonic with respect to the position along the path. The main task of this work is to identify a model of the system that is suitable for the long term prediction that the algorithm requires.
SUMMARY OF THE CURRENT STATUS
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CURRENT PROGRESS
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Software
- ca2: grouped utility functions in a separate folder that is shared with the simulator.
- CPS: fixed a bug that affected the initial target dectection for cars that were not tracked by computer 0.
- CPS: implemented linear error correction for the computation of camera position.
- CPS: now compute and send also the 2D speed of the cars.
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