Merge pull request #100 from una-auxme/75-feature-architecture-for-pl…

…anning

75 feature architecture for planning

doc/03_research/03_planning/00_paf23/architecture.md

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+# Planned Architecture
+
+Provide  an overview for a possible planning architecture consisting of Global Planner, Local Planner and Decision Making.
+
+## Overview
+
+![overview](overview.png)
+
+The **Global Plan** gathers all data relevant to build a copy of the town the car is driving in. It also computes an optimal global path, which includes all waypoints. The Decision Making can order a recalculation of the global path.
+
+The **Local Plan** segments the global path and calculates how to drive in the lane. It also checks if there is any collision possible.
+If there is a collision detected the local path, on the cars lane, can be modified with the obstacle avoidance.
+The Speed gets calculated in the motion planning according to the speedlimits of the street, the acc and the choosen behaviour.
+Motions like lane changing must be approved by the decision making and they get calculated in the motion planning.
+
+**Decision Making** provides a behaviour tree, which helps perfoming various tasks like lane changing and crossing an intersection.
+
+## Components
+
+### Global Plan
+
+![overview](Globalplan.png)
+
+*Map Generator:* Gathers map data from Carla and prepares it for the PrePlanner
+
+- Input: Carla OpenDrive Map
+- Output: Converted map data
+
+*Preplanner:* Adds all the waypoints to the map.
+
+- Input: Carla global plan or own global route,
+Map Generator data
+- Output: Converted Map Data
+
+*Global Trajectory:* Calculates optimal global trajectory (speed is only calculated by given speedlimits)
+
+- Input: Current Position, Preplanner map data, completed checkpoints
+
+- Output: Global Trajectory (middle of the road path, speedlimits)
+
+*Recalculate:* Deletes streets from map, which are undrivable.
+
+- Input: Preplanner map data, position of blocked road
+
+- Output: converted map data
+
+*Why Modular?*
+
+- Easier to inject own waypoints if the leaderboard is not called
+- Global Trajectory can be called again without building the whole map again
+
+*Implementation:*
+
+- Global Planner from Paf22
+- Can be optimised (some paths are on the walkway)
+- variable for completed checkpoints and recalculate needs to be added
+
+Example: Google Maps
+
+### Decision Making
+
+See Behaviour Tree.
+
+*Implementation:*
+
+- Decision Making from Paf22
+- behaviours can be refined
+- Add new behaviour for a blocked road
+
+### Local Plan
+
+![Local Plan](localplan.png)
+
+*Local Preplan:* Segements the global path and calculates the middle of the lane. Is not called in every cycle.
+
+- Input: Global Path, Current Position, Lane Detection
+- Output: Local Path
+
+*Collision Check:* Check if local path is blocked, calculate with constant speed. Can send emergency brake signal.
+
+- Input: Local Path, Obstacles, current position, current speed
+
+- Output: Collision Object, Object in Front, Emergency Brake Signal
+
+*Obstacle Avoidance:* Modifies local path, on cars lane, so collision is avoided.
+
+- Input: Local Path, Collision Object, Current speed/position
+- Output: Modified Local Path
+
+*Motion Planning:* Calculates speed based of behaviours, speedlimit and acc. Also computes path for lane change.
+
+- Input: Modified Local Path, behaviour, acc speed
+- Output: Local Trajectory
+
+*Why Modular?*
+
+- Faster Collision check
+- Easy change of Algorithms
+
+*Implementation:*
+
+- For Obstacle Avoidance: Pylot - Frenet Optimal Trajectory
+- For ACC: Implementation PAF22 or IDM Model
+- For Lane Changing: MOBIL Model
+
+*Extra - Visualize Local Trajectory:* Display what should be done: green if accelerating, red if braking, orange holding speed.
+
+- Input: Local Trajectory, current speed
+- Output: Visualization
+
+## Interfaces
+
+*Perception:*
+
+- Speed
+- GPS values and orientation
+- Traffic Light (Distance, State)
+- Traffic Sign (Distance, Type)
+- Lane Detection (Distance to lane lines)
+- Object Detection (Distance, Typ, Orientation)
+
+*Acting:*
+
+- Trajectory (path, speed)
+- Emergency Signal
+
+## Prioritisation
+
+Red must have for next Milestone, Orange needed for future milestones, Green can already be used or is not that important
+
+![prios](prios.png)