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Improving planner integration #65

Merged
merged 15 commits into from
Nov 11, 2017
Merged

Improving planner integration #65

merged 15 commits into from
Nov 11, 2017

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mihirrajput
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Fixes

  • Integrated New TL protocol
  • Integrated Sergei's better classifier but not updated to the latest commit
  • Tried to improve the planner
  • Changed some controller tuning

Bugs observed:

  • Need to make the car stop at all traffic light. Need to test with ground truth as true and false.
  • TL Intro paragraph #7 doesn't get classified. It would be good if TL First test for controller #5 got detected earlier.
  • Achieve higher speeds.

sershev and others added 15 commits November 4, 2017 18:54
@sershev @mihirrajput
[TL Detector:] tl_detector now publish state and waypoint of nearest TL.
2e4a792
@mihirrajput
Preliminary changes to waypoint_updater to account for new protocol. …
f9c9ae6 
…Changed variable in tl_detector from self.last_state to self.state.
@mihirrajput
Preliminary attempt at integrating new TL protocol.
1583673
@mihirrajput
Penultimate attempt at integration. Tested at 64 kmph. Had a good run…
cc6f940 
…. Could see benefits from introducing yellow lights.
@mihirrajput
Tested at 30, 40 and 50 kph. New TL detector protocol. Car stops at T…
b73617c 
…L and starts after green Sometimes TL detector doesn't read green.
@mihirrajput
Tested at 30 kph and 45 kph. Introduced STOP_HYST for a stopping car …
e29d383 
…that rolls over. Messages won't clog the terminal as frequently as before.
@whathelll
minor updates and fixed the deadband logic which was actually incorrect
953b042
@whathelll
adding logging to help detect violating traffic lights
520a1ca
@mihirrajput
Made the suggested change in tl_detector.
2dae2d3
@sershev
[TL Detector:] Better 4-class (lights + non TL) classifier model for …
dd3709b 
…simulator
@mihirrajput
Improvments over planner-integration branch. Please let me know how i…
59de4f2 
…t works on your PC.
@mihirrajput
Got rid of unsafe_speed and UNSAFE_VEL_FACTOR.
644fff9
@mihirrajput
Cleaned up some global variables. Played with tuning in waypoint_upda…
4539d18 
…ter.
@mihirrajput
Merge remote-tracking branch 'origin/tl_detector/tl_classifier_improv…
3e5c6cb 
…ement' into improving-planner-integration
@mihirrajput
New TL protocol. Better Classifier. Harder Braking for TL 5. Better w…
0c87227 
…aypoint updater.
ericlavigne
ericlavigne approved these changes Nov 11, 2017
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@ericlavigne ericlavigne left a comment

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Clear improvement over master. Still has issues but worth merging.

On master the car runs through most lights (slows but doesn't stop). On improving-planner-integration with ground truth the car still runs most lights but at slower speed. On improving-planner-integration without ground truth the car stops at most lights, only occasionally driving through at low speed.

@ericlavigne ericlavigne merged commit e15d3b2 into master Nov 11, 2017
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@ericlavigne ericlavigne ericlavigne approved these changes

@Helen1987 Helen1987 Awaiting requested review from Helen1987

@whathelll whathelll Awaiting requested review from whathelll

@sershev sershev Awaiting requested review from sershev

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4 participants
@mihirrajput @ericlavigne @sershev @whathelll