396 read previous research #403
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Actionable comments posted: 2
🧹 Outside diff range and nitpick comments (10)
doc/research/paf24/general/old_research_overview.md (5)
15-18: Improve content formattingThe content is currently split across lines in a way that breaks readability. Consider reformatting these paragraphs to maintain consistent line breaks:
-behavior for more fluid lane-change maneuvers, optimizing control responses to avoid obstacles and maintain lane positioning during highway merging and overtaking scenarios. -The resources also include CARLA-specific tools such as the CARLA Leaderboard and ROS Bridge integration, which link CARLA's simulation environment to the Robot Operating System (ROS). Detailed references to CARLA's sensor suite are provided, covering RGB cameras, LIDAR, radar, GNSS, and IMU -sensors essential for perception and control. +behavior for more fluid lane-change maneuvers, optimizing control responses to avoid obstacles and maintain lane positioning during highway merging and overtaking scenarios. + +The resources also include CARLA-specific tools such as the CARLA Leaderboard and ROS Bridge integration, which link CARLA's simulation environment to the Robot Operating System (ROS). Detailed references to CARLA's sensor suite are provided, covering RGB cameras, LIDAR, radar, GNSS, and IMU sensors essential for perception and control.
24-27: Maintain consistent paragraph formattingSimilar to the previous section, improve readability by avoiding line breaks within paragraphs:
-other controls in hazardous situations. -**PAF23 Contributions**: Introduced refinements in lateral control, including the adaptive Stanley controller, which adjusts steering sensitivity based on vehicle speed to maintain a smooth trajectory. **PAF23** also optimized the emergency braking logic to respond more quickly to obstacles, with -improvements in lane-changing safety. +other controls in hazardous situations. + +**PAF23 Contributions**: Introduced refinements in lateral control, including the adaptive Stanley controller, which adjusts steering sensitivity based on vehicle speed to maintain a smooth trajectory. **PAF23** also optimized the emergency braking logic to respond more quickly to obstacles, with improvements in lane-changing safety.
35-35: Fix inconsistent line spacingAdd proper line break before the paragraph:
-Local planning includes **trajectory tracking** using Pure Pursuit and Stanley controllers to maintain a steady path. + +Local planning includes **trajectory tracking** using Pure Pursuit and Stanley controllers to maintain a steady path.
46-47: Maintain consistent paragraph formattingImprove readability by reformatting the split content:
-The **intersection state machine** now incorporates detailed behaviors for handling left turns, straight passes, and right turns, considering pedestrian zones and cross-traffic. **PAF23** also introduced an adaptive lane-change state, -which calculates safety based on vehicle speed, distance to adjacent vehicles, and road type. +The **intersection state machine** now incorporates detailed behaviors for handling left turns, straight passes, and right turns, considering pedestrian zones and cross-traffic. **PAF23** also introduced an adaptive lane-change state, which calculates safety based on vehicle speed, distance to adjacent vehicles, and road type.
53-56: Fix paragraph formattingMaintain consistent formatting throughout:
-ensuring the vehicle receives consistent updates on its location relative to the route, intersections, and nearby obstacles. -**Navigation Data Structure**: The system uses navigation data points, including **GPS coordinates, world coordinates, and high-level route instructions** (e.g., turn left, change lanes) to guide the vehicle. Each point is matched with a **road option command**, -instructing the vehicle on how to proceed at specific waypoints. +ensuring the vehicle receives consistent updates on its location relative to the route, intersections, and nearby obstacles. + +**Navigation Data Structure**: The system uses navigation data points, including **GPS coordinates, world coordinates, and high-level route instructions** (e.g., turn left, change lanes) to guide the vehicle. Each point is matched with a **road option command**, instructing the vehicle on how to proceed at specific waypoints.doc/research/paf24/old_research_overview.md (5)
15-16: Improve readability: Merge split sentenceThe sentence about PAF23 is split across lines, making it harder to read. Consider combining these lines.
-refined vehicle -behavior for more fluid lane-change maneuvers +refined vehicle behavior for more fluid lane-change maneuvers
24-25: Improve readability: Fix line wrappingThe sentence about emergency braking logic is split across lines. Consider keeping complete sentences together.
-other controls in hazardous situations. +other controls in hazardous situations.
35-35: Fix formatting: Remove extra line breakThe line about trajectory tracking should be part of the previous paragraph about Local Planning.
-Local planning includes **trajectory tracking** using Pure Pursuit and Stanley controllers to maintain a steady path. +Local planning includes **trajectory tracking** using Pure Pursuit and Stanley controllers to maintain a steady path.
46-47: Maintain consistent formattingThe sentence about the intersection state machine is split across lines. Consider keeping related content together for better readability.
-The **intersection state machine** now incorporates detailed behaviors for handling left turns, straight passes, and right turns, considering pedestrian zones and cross-traffic. **PAF23** also introduced an adaptive lane-change state, -which calculates safety based on vehicle speed, distance to adjacent vehicles, and road type. +The **intersection state machine** now incorporates detailed behaviors for handling left turns, straight passes, and right turns, considering pedestrian zones and cross-traffic. **PAF23** also introduced an adaptive lane-change state, which calculates safety based on vehicle speed, distance to adjacent vehicles, and road type.
1-56: Excellent research summary with minor improvements neededThe documentation successfully achieves its goal of summarizing previous research from PAF22 and PAF23, which directly addresses the PR objective of avoiding duplicate research efforts. The technical content is comprehensive and well-organized.
Consider implementing the suggested formatting improvements for better readability, but otherwise, this is a valuable contribution to the project's documentation.
To maintain this documentation's value:
- Consider adding a "Last Updated" date
- Include links to specific implementation examples where available
- Consider adding a section about lessons learned or known limitations
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[grammar] ~3-~3: The possessive apostrophe may be missing.
Context: ...this file to make it an entry point for this years project. - [Research and Resources...(THIS_NNS)
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🪛 LanguageTool
doc/research/paf24/general/old_research_overview.md
[grammar] ~3-~3: The possessive apostrophe may be missing.
Context: ...this file to make it an entry point for this years project. - [Research and Resources...
(THIS_NNS)
doc/research/paf24/old_research_overview.md
[grammar] ~3-~3: The possessive apostrophe may be missing.
Context: ...this file to make it an entry point for this years project. - [Research and Resources...
(THIS_NNS)
🔇 Additional comments (2)
doc/research/paf24/general/old_research_overview.md (1)
1-56: Excellent documentation of previous research!
The document provides a comprehensive overview of previous research from PAF22 and PAF23, effectively meeting the PR objective of avoiding research duplication. The content is well-structured, technically accurate, and provides valuable insights for the current project team.
The technical content covers all major aspects:
- Research foundations and resources
- Control systems and algorithms
- Planning and trajectory generation
- State machine implementation
- Infrastructure integration
This will serve as an excellent entry point for understanding the project's research history.
🧰 Tools
🪛 LanguageTool
[grammar] ~3-~3: The possessive apostrophe may be missing.
Context: ...this file to make it an entry point for this years project. - [Research and Resources...
(THIS_NNS)
doc/research/paf24/old_research_overview.md (1)
49-56: Well-documented OpenDrive integration section
The section provides clear and comprehensive information about OpenDrive integration and navigation data structure. The technical details are accurate and well-organized.
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| # Research Summary | |||
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| **Summary:** The research of the previous groups is condensed into this file to make it an entry point for this years project. | |||
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Fix grammar: Add possessive apostrophe
Add an apostrophe to make "years" possessive:
-**Summary:** The research of the previous groups is condensed into this file to make it an entry point for this years project.
+**Summary:** The research of the previous groups is condensed into this file to make it an entry point for this year's project.📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| **Summary:** The research of the previous groups is condensed into this file to make it an entry point for this years project. | |
| **Summary:** The research of the previous groups is condensed into this file to make it an entry point for this year's project. |
🧰 Tools
🪛 LanguageTool
[grammar] ~3-~3: The possessive apostrophe may be missing.
Context: ...this file to make it an entry point for this years project. - [Research and Resources...
(THIS_NNS)
| @@ -0,0 +1,56 @@ | |||
| # Research Summary | |||
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| **Summary:** The research of the previous groups is condensed into this file to make it an entry point for this years project. | |||
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Fix grammar: Add possessive apostrophe
Change "this years project" to "this year's project" to correct the possessive form.
-**Summary:** The research of the previous groups is condensed into this file to make it an entry point for this years project.
+**Summary:** The research of the previous groups is condensed into this file to make it an entry point for this year's project.📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| **Summary:** The research of the previous groups is condensed into this file to make it an entry point for this years project. | |
| **Summary:** The research of the previous groups is condensed into this file to make it an entry point for this year's project. |
🧰 Tools
🪛 LanguageTool
[grammar] ~3-~3: The possessive apostrophe may be missing.
Context: ...this file to make it an entry point for this years project. - [Research and Resources...
(THIS_NNS)
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I think the summary gives a good overview of what has already been implemented in which year.
I have the following question: Why do you only use the links from paf22?
And I have another suggestion: You could also link your summary to Ludwig's work, which provides an overview of the system.
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Actionable comments posted: 0
🧹 Outside diff range and nitpick comments (4)
doc/research/paf24/general/old_research_overview.md (4)
15-18: Fix formatting issues for better readability.There are two formatting issues to address:
- The sentence about PAF23 is split across lines 15-16
- The sentence about CARLA's sensor suite is split awkwardly with "and IMU" on a separate line
Suggested fix:
- behavior for more fluid lane-change maneuvers, optimizing control responses to avoid obstacles and maintain lane positioning during highway merging and overtaking scenarios. - The resources also include CARLA-specific tools such as the CARLA Leaderboard and ROS Bridge integration, which link CARLA's simulation environment to the Robot Operating System (ROS). Detailed references to CARLA's sensor suite are provided, covering RGB cameras, LIDAR, radar, GNSS, and IMU - sensors essential for perception and control. + behavior for more fluid lane-change maneuvers, optimizing control responses to avoid obstacles and maintain lane positioning during highway merging and overtaking scenarios. + + The resources also include CARLA-specific tools such as the CARLA Leaderboard and ROS Bridge integration, which link CARLA's simulation environment to the Robot Operating System (ROS). Detailed references to CARLA's sensor suite are provided, covering RGB cameras, LIDAR, radar, GNSS, and IMU sensors essential for perception and control.
24-25: Fix line break in emergency braking description.While the technical content is excellent, there's a formatting issue where the emergency braking description is split across lines.
- other controls in hazardous situations. + other controls in hazardous situations.
34-35: Add line break before trajectory tracking description.The technical content is accurate, but readability can be improved by separating the trajectory tracking information onto a new line.
- Local planning includes **trajectory tracking** using Pure Pursuit and Stanley controllers to maintain a steady path. + + Local planning includes **trajectory tracking** using Pure Pursuit and Stanley controllers to maintain a steady path.
46-47: Fix line break in intersection state machine description.The technical content about the state machine is comprehensive, but there's a formatting issue where the description is split across lines.
Combine the split content into a single paragraph for better readability.
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doc/research/paf24/general/old_research_overview.md(1 hunks)
🔇 Additional comments (3)
doc/research/paf24/general/old_research_overview.md (3)
1-10: LGTM! Well-structured overview section.
The header section provides clear navigation and purpose, with proper markdown formatting.
51-56: LGTM! Clear explanation of OpenDrive integration.
The section provides a comprehensive overview of OpenDrive integration and navigation data structure.
1-56: Excellent documentation that meets the PR objectives.
This documentation successfully consolidates previous research from PAF22 and PAF23, providing a valuable entry point for the PAF24 project. The technical content is accurate and well-organized, covering all major aspects of the autonomous vehicle project.
While there are some minor formatting issues noted in previous comments, the overall structure and content quality is high.
Let's verify the completeness of research coverage:
✅ Verification successful
Documentation coverage is comprehensive and accurate
After reviewing the research documents from PAF22 and PAF23, I can confirm that the research overview document successfully covers all major aspects and accurately represents the previous work. The document includes:
- All key perception components from PAF21/22 (traffic light detection, obstacle detection)
- Complete planning architecture from PAF22 (preplanning, decision making, local path planning)
- Various planning approaches researched in PAF23 (Waypoint, Freenet, RRT*, Hybrid A*)
- All prioritized driving aspects from the requirements document
- Accurate representation of both PAF22 and PAF23 contributions to each module
The consolidation maintains technical accuracy while providing a clear entry point for PAF24.
🏁 Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash
# Description: Check if all major research topics from PAF22 and PAF23 are covered
# Test: Look for any research-related files in PAF22 and PAF23 folders that might contain additional topics
fd -e md -e txt research paf22 paf23
Length of output: 183
Script:
#!/bin/bash
# Let's try searching from the repository root with a more flexible pattern
fd -t f "research|overview" "doc"
# Also search for any documentation mentioning PAF22/PAF23 research
rg -i "paf2[23].*research|research.*paf2[23]" "doc" -A 2 -B 2
Length of output: 2684
Script:
#!/bin/bash
# Let's check the content of the found research documents to verify coverage
cat doc/research/paf23/perception/Research_PAF21-Perception.md
cat doc/research/paf23/planning/Research_Pylot_Planning.md
cat doc/research/paf23/planning/PlanningPaf22.md
# Also check if there are any other important research topics in the requirements
cat doc/research/paf22/requirements/requirements.md
Length of output: 8300
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Alright @RoyaLxPole, this should incorporate the points from your review. |
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How come the behavior tree is not mentioned? (I think it's changed by the group PF23, replacing or changing from PF22 state machines) |
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Actionable comments posted: 0
🧹 Outside diff range and nitpick comments (3)
doc/research/paf24/general/old_research_overview.md (3)
15-16: Improve readability by combining split sentence.The sentence about PAF23's vehicle behavior is split across lines, which might affect rendering in some markdown viewers.
-- behavior for more fluid lane-change maneuvers, optimizing control responses to avoid obstacles and maintain lane positioning during highway merging and overtaking scenarios. +behavior for more fluid lane-change maneuvers, optimizing control responses to avoid obstacles and maintain lane positioning during highway merging and overtaking scenarios.
24-25: Improve readability by combining split sentence.The sentence about PAF22's emergency braking logic is split across lines.
-other controls in hazardous situations. +other controls in hazardous situations.
47-48: Improve readability by combining split sentence.The sentence about the intersection state machine is split across lines.
-The **intersection state machine** now incorporates detailed behaviors for handling left turns, straight passes, and right turns, considering pedestrian zones and cross-traffic. **PAF23** also introduced an adaptive lane-change state, -which calculates safety based on vehicle speed, distance to adjacent vehicles, and road type. +The **intersection state machine** now incorporates detailed behaviors for handling left turns, straight passes, and right turns, considering pedestrian zones and cross-traffic. **PAF23** also introduced an adaptive lane-change state, which calculates safety based on vehicle speed, distance to adjacent vehicles, and road type.
📜 Review details
Configuration used: CodeRabbit UI
Review profile: CHILL
📒 Files selected for processing (1)
doc/research/paf24/general/old_research_overview.md(1 hunks)
🔇 Additional comments (3)
doc/research/paf24/general/old_research_overview.md (3)
1-10: LGTM! Well-structured document header.
The document header is clear and well-organized with a proper table of contents.
50-57: LGTM! Comprehensive coverage of OpenDrive integration.
The section provides clear and detailed information about the OpenDrive integration and navigation data structure.
37-37: Expand on behavior tree implementation details.
Based on PR comments, the behavior tree implementation by PF23 appears to have replaced or modified PF22's state machines. Consider adding more details about:
- The specific changes made by PF23
- The rationale for replacing state machines
- The impact on the system's decision-making capabilities
Description
Summarize the previous research of the groups from paf22 and paf23
Fixes #396
Type of change
Does this PR introduce a breaking change?
No.
Most important changes
Changes file /doc/research/paf24/general/old_research_overview.md
Checklist:
Summary by CodeRabbit
New Features
Documentation
old_research_overview.mdfile to include new subsections for better organization and clarity.