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- Implemented a simulator in C for Linux. This is integrated with the code used on cars (ca2). It simulates the cars dynamics and the behavior of the Camera Positioning Systems (CPS). Besides being very useful to verify the system model, it makes easy to test changes to code and the controller before applying those changes to cars.
- Implemented a script to visually debug cars behavior. It works both with the simulator and test-bed experiments data.
- ca2: grouped utility functions in a separate folder that is shared with the simulator. This makes the code more modular.
- ca2: partially implemented a Kalman filter in the attempt to remove part of the measurement noise of cameras. The model must be refined for it to prove its real effectiveness.
- CPS: fixed a bug that affected the initial target dectection for cars that were not tracked by computer 0.
- CPS: now compute and send also the 2D speed of the cars. This is likely to be needed for the predictor in the future. See also section #2D #CPS MEASURED 2D SPEED TESTING.
- CPS: implemented linear error correction for the computation of camera position. This visibly improves the path following of cars. See section #CAMERA MEASUREMENT ERROR CORRECTION.
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Results
The error correction gave a visible improvement to the steer control performance. The car stays much closer to the given path. The error in camera 5 and 2 is constantly below 10cm and rarely above 5cm. Moreover the measured position "leaps" are reduced. I was not able to measure a leap above 15cm.
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CPS MEASURED 2D SPEED TESTING
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CAR MODEL
EFFECT OF PWM AND STEER INPUT ON THE SPEED DYNAMICS
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