techreport- · pdf filecontrolling horn, flashing beacon emergency/parking brake horn /...

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Thomas Form(Technical Project Leader)

Bernhard Rumpe(Project Leader)

Fred Rauskolb(Formal Team Leader)

Christian Berger(Team Leader)

Steering CommitteeThomas Form Peter Hecker Marcus Magnor Bernhard Rumpe Walter Schumacher Lars Wolf

Vehicle Control/ Hardware

• Jörn Marten Wille

• Karsten Cornelsen

• Michael Doering

• Johannes Morgenroth

Perception&Sensors• Jan Effertz

• Fabian Graefe

• Sebastian Ohl

• Christian Lipski

• Wojciech Derendarz

• Kai Berger

• Felix Klose

Reasoning&Planning

• Kai Homeier

• Tobias Nothdurft

• Christian Basarke

• Sebastian Ohl

• Andreas Donners

• Andre Steinert

QA/Simulation• Christian Berger

• Christian Basarke

• Tim Gülke

Marketing/PR• Joop Flack

• Hendrik Stöcker

• Manuel Juhrs

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ECU ECU

ECU ECU

Front Data Acquisition

Rear Data Acquisition

Tracking + Data Fusion

front

rear

ColorAnalysis

Object Data

Object Data

CA

NC

AN

Eth

ern

et

StereoPreprocessing

Grid Fusion

Drivability,Height Profile

Surface Data, Classification

Classification Surface Data

Laserscanner Front

Extended Kalman FilterPretracking

Data Association

Laserscanner Rear Radar Front Radar Rear

Track Database

Fusion Input Queue

...

Track ID 0

Track ID 1

Track ID 2

Track ID 3

Pretrack Database

...

Pretrack ID 0

Pretrack ID 1

Pretrack ID 2

Pretrack ID 3

TrackInitialization

Sensor Sweeps

Data Acquisition, Timestamping and Transformation

Lidar Front Lidar Rear

Track Managment

wi,j = a · min[|xik − xj

l |,∀k, l] + b · |vi − vj|wi,j i j

vi vj xik xj

l kth lth

i j a b

Ω =

⎡⎣

|xi1 − xj

1| . . . |xi1 − xj

l |. . . . . . . . .

|xik − xj

1| . . . |xik − xj

l |

⎤⎦

x6D =

⎛⎜⎜⎜⎜⎜⎜⎝

x1...n

y1...n

vaαω

⎞⎟⎟⎟⎟⎟⎟⎠

x1...n y1...n

x4D =

⎛⎜⎜⎝

x1...n

y1...n

va

⎞⎟⎟⎠

y =

⎛⎜⎜⎝

x1...m

y1...m

vx

vy

⎞⎟⎟⎠

x1 y1 vx vy x y xy

xk(v + 1|v) = f(xk(v))

P (v + 1|v) = F T · P · F + Q

sk,l = yl(v + 1) − h(xk(v + 1|v))

S(v + 1) = H · P (v + 1|v) · HT + R

K(v + 1) = P (v + 1|v) · HT · S(v + 1)−1

rk,l(v + 1) = K(v + 1) · sk,l(v + 1)

xk k f(x)P F

Q sk,l

k l yl

l h(x)S H R

K rk,l

k l

rk,l

rk,l

rmean =1

N

N∑k,l=1

rk,l

N

rmean

a O(a)

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••

old values

sensor origin

target point

new values

m∗c(A) = mc(A)

⊕mm(A) =

1

1 − K

∑B∩C=A�=∅

mc(B)mm(C),

mc mm m∗c

A B CK

K =∑

B∩C=∅mc(B)mm(C).

mm

Pd

D U N

mm(D) = Dmax · Pd,

mm(N) = (1 − Dmax),

mm(U) = 1 − mm(D) − mm(N).

Dmax

+

∂h∂x∂y

mm(D) =

⎧⎪⎪⎪⎨⎪⎪⎪⎩

Dmax,∣∣∣ ∂h∂x∂y

∣∣∣ ≤ GDmax

0, GDmax <∣∣∣ ∂h∂x∂y

∣∣∣ ≤ GUmin

0,∣∣∣ ∂h∂x∂y

∣∣∣ > GUmin

mm(U) =

⎧⎪⎪⎪⎨⎪⎪⎪⎩

0,∣∣∣ ∂h∂x∂y

∣∣∣ ≤ GDmax

Umax

GUmin−GDmax

·(∣∣∣ ∂h

∂x∂y

∣∣∣ − GDmax

), GDmax <

∣∣∣ ∂h∂x∂y

∣∣∣ ≤ GUmin

Umax,∣∣∣ ∂h∂x∂y

∣∣∣ > GUmin

mm(N) = 1 − mm(D) − mm(U),

Dmax Umax

GDmax

GUmin

fego : pcar �→ pworld pcar

pworld

Itele > Imiddle > Ileft > Iright

vdiff

vdiff = vmax − vmin

bdiff

bhigh blow

blow bhigh

bhigh

si

li wi di = αi − αi−1

c0 lidi pi αi

lpfego : pcar �→ pworld

tcon, thist, tdir tcol

q a ∈ {0, 22.5, ..., 157.5}c ∈ {white, yellow, undecided}

vdiff = vmax − vmin vmax vmin

vdiff < tcon

bhigh blow

bdiff = bhigh − blow

bdiff < thist

phigh bhigh

R phigh

rmax amax

i = 0; i <= 157.5; i = i + 22.5phigh R i r = V ar(X)

V ar(Y )

rmax < tdir

qwhite = bdiff awhite = amax

qyellow = bdiff ayellow = amax

qwhite > tcol qwhite > qyellow

c = white a = awhite

qyellow > tcol qyellow > qwhite

c = yellow a = ayellow

q = max(qwhite, qyellow)

blow bhigh

bhigh

outer left left right outer right

sf

s0 ← sf sf si

αi si

si αi

pi si di

wi px py

gi = mi/liwi

gi wi nsi q

outer leftleft right outer right tq

si+1

si

pi αi li lgap si

αi

+

PScanner

10

1

1

min(R,G)B

− 1

t t + 1

x

p(x, y)ymax

Pboundary

Pbumper

Pbumper

Pbumper

pixelSum weightedP ixelSumX weightedP ixelSumY

pixelSum

x Pbumper

weightedP ixelSumXy Pbumper

weightedP ixelSumY

xmoment = weightedPixelSumXpixelSum ymoment = weightedPixelSumY

pixelSum

xmoment Pbumper

x ymoment

Pbumper yxmoment ymoment Pbumper

Pbumper

Pbumper Pboundary

xmoment ymoment

xmoment = 0 ymoment = 0xmoment = 0 Pbumper

Pboundary xmoment 1Pbumper −1

ymoment

obstacle

obstacle

startpoint

curvatures

0

-0.1

+0.1

vote

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STO

P

Queue Interrupt

IntersectionInterrupt

v

Planned Trajectory Points

s

a)

b)

c)

d)

MM αA nM nM

MM(αA, nM , nM) =r

ηk ik(fR m g + cw A

ρ

2(nM 2 π R0

ik)2 + λ m

nM 2 π R0

ik)

P (s) =1

s (T s + 1)

T = 0.6s

R0

rηk

ikfR

mgcw

Aρλ

K(s)

K(s)Lower Controller

Throttle

K(s)Lower Controller

Brake

CarolineDynamics

K(s)Upper Controller

Throttle

K(s)Upper Controller

Brake

vdesired

adesired

adesired

a v

10002000

30004000

50006000

7000

0

20

40

60

80

1000

50

100

150

200

250

Engine Speed in RPM

Engine Map

Throttle in percent

Eng

ine

Tor

que

in N

m

0 2 4 6 80

2

4

6

8

10

12Example 1

Time t in sec

Spe

ed v

in m

/s

Actual SpeedDesired speed

0 1 2 3 4 50

2

4

6

8

10

12Example 2

Time t in sec

Spe

ed v

in m

/s

Actual SpeedDesired speed

•••••

SP

xHF

yVF

VAl

HAl

l

)(mvFzent

v

xVF

yHF

V

˙ (t) = A (t) + B (t) + E (t), (0) = 0

ζdesired

κ v

ζdesired = κ · v

ψrel

ψ ζdesired

ψrel = ψ − ζdesired

ψrel

ψrel = ψ − κ v

d vβ ψrel

d = v (β + ψrel)

TL

ψ β ψrel dδ

δdesired κ

⎛⎜⎜⎜⎜⎜⎝

ψ

β

ψrel

d

δ

⎞⎟⎟⎟⎟⎟⎠

=

⎛⎜⎜⎜⎜⎝

a11 a12 0 0 a15

a21 a22 0 0 a25

1 0 0 0 00 v v 0 00 0 0 0 − 1

TL

⎞⎟⎟⎟⎟⎠·

⎛⎜⎜⎜⎜⎝

ψβ

ψrel

dδ

⎞⎟⎟⎟⎟⎠

+

⎛⎜⎜⎜⎜⎝

0000iLTL

⎞⎟⎟⎟⎟⎠·δdesired+

⎛⎜⎜⎜⎜⎝

00−v00

⎞⎟⎟⎟⎟⎠·κ

a11 = −cαV l2V + cαH l2Hθ v

, a12 = −cαV lV + cαH lHθ

, a15 =cαV lV

θ

a21 = −1 − cαV lV − cαH lHm v2

, a22 = −cαV + cαH

m v, a25 =

cαV

m v

d

(t) =(

0 0 0 1 0)T

(t)

Fc(s) =iL

TL s + 1· a25s

2 + (a15 a21 + a15 − a25 a11) s + (a25 a12 − a25 a12)

s2 − (a11 + a22)s + (a11 a22 − a12 a21)· 1

s· v

s

Fnoise = −v

s· v

s

cαV

cαH

lVlHθm

x y ψδ

K(s)

K(s)

Pilot Control

K(s)

Track Error

Track Angle

�

�

��

��

��

d

�

DesiredTrajectory

Position andOrientation

κ ≈ 0

v = 5020

−300 −280 −260 −240 −220 −200 −180 −160 −140 −120 −100100

110

120

130

140

150

160

170

180

190

200Trajectory

x−Position in m

y−P

ositi

on in

mFinal Position

Starting Position

0 5 10 15 20 25 300

5

10

15

20

25

30

35

40

45

50Speed Profile of the Track

Time in sec

Spe

ed in

km

/h

0 5 10 15 20 25 30−0.5

−0.4

−0.3

−0.2

−0.1

0

0.1

0.2

0.3

0.4

0.5Track Error

Time in sec

Tra

ck E

rror

in m

CANlog III

CAN powertrain

CAN actorics

CAN controller

godisable

vehicle power

vehicle starter

monitoringcommunication

monitoring actorics state

controllingemergency brake

generating vehiclestate message

controlling horn, flashing beacon

emergency/parking brake

horn / warning beacon

Vehicle Controller

Car PC

Watchdogmonitoring heartbeats

sending autonomousmode demands

communicationinterface

connect

steering

braking throttle gear

vehicleinformation

controlling vehicle power, starter

gateway

heartbeat/reset/suspend

slave daemon 2

process 1

pc n...

process 2

process n

star

t

hear

tbea

tki

ll

controller

CAN

actorics CAN

TCP/IP

relaisbox

for power shutdown

slave daemon 1

process 1

pc 1

process 2

process n

star

t

hear

tbea

tki

ll

slave daemon n

watchdogpc

process 2

process n

star

t

hear

tbea

tki

ll

wd master

δti > 0

•

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•

••

•

•

+

Technische Universitat BraunschweigInformatik-Berichte ab Nr. 2005-03

2005-03 T.-P. Fries, H. G. Matthies A Stabilized and Coupled Meshfree/Meshbased Methodfor the Incompressible Navier-Stokes Equations — PartII: Coupling

2005-04 H. Krahn, B. Rumpe Evolution von Software-Architekturen

2005-05 O. Kayser-Herold, H. G. Matthies Least-Squares FEM, Literature Review

2005-06 T. Mucke, U. Goltz Single Run Coverage Criteria subsume EX-WeakMutation Coverage

2005-07 T. Mucke, M. Huhn Minimizing Test Execution Time During TestGeneration

2005-08 B. Florentz, M. Huhn A Metamodel for Architecture Evaluation

2006-01 T. Klein, B. Rumpe, B. Schatz(Herausgeber)

Tagungsband des Dagstuhl-Workshop MBEES 2006:Modellbasierte Entwicklung eingebetteter Systeme

2006-02 T. Mucke, B. Florentz, C. Diefer Generating Interpreters from Elementary Syntax andSemantics Descriptions

2006-03 B. Gajanovic, B. Rumpe Isabelle/HOL-Umsetzung strombasierter Definitionenzur Verifikation von verteilten, asynchronkommunizierenden Systemen

2006-04 H. Gronniger, H. Krahn,B. Rumpe, M. Schindler, S. Volkel

Handbuch zu MontiCore 1.0 - Ein Framework zurErstellung und Verarbeitung domanenspezifischerSprachen

2007-01 M. Conrad, H. Giese, B. Rumpe,B. Schatz (Hrsg.)

Tagungsband Dagstuhl-Workshop MBEES:Modellbasierte Entwicklung eingebetteter Systeme III

2007-02 J. Rang Design of DIRK schemes for solving theNavier-Stokes-equations

2007-03 B. Bugling, M. Krosche Coupling the CTL and MATLAB

2007-04 C. Knieke, M. Huhn Executable Requirements Specification: An Extensionfor UML 2 Activity Diagrams

2008-01 T. Klein, B. Rumpe (Hrsg.) Workshop Modellbasierte Entwicklung voneingebetteten Fahrzeugfunktionen, Tagungsband

2008-02 H. Giese, M. Huhn, U. Nickel,B. Schatz (Hrsg.)

Tagungsband des Dagstuhl-Workshop MBEES:Modellbasierte Entwicklung eingebetteter Systeme IV

2008-03 R. van Glabbeek, U. Goltz,J.-W. Schicke

Symmetric and Asymmetric Asynchronous Interaction

2008-04 M. V. Cengarle, H. GronnigerB. Rumpe

System Model Semantics of Statecharts

2008-05 M. V. Cengarle, H. GronnigerB. Rumpe

System Model Semantics of Class Diagrams

2008-06 M. Broy, M. V. Cengarle,H. Gronniger B. Rumpe

Modular Description of a Comprehensive SemanticsModel for the UML (Version 2.0)

2008-07 C. Basarke, C. Berger, K. Berger,K. Cornelsen, M. Doering J.Effertz, T. Form, T. Gulke, F.Graefe, P. Hecker, K. Homeier F.Klose, C. Lipski, M. Magnor, J.Morgenroth, T. Nothdurft, S. Ohl,F. Rauskolb, B. Rumpe, W.Schumacher, J. Wille, L. Wolf

2007 DARPA Urban Challenge Team CarOLO -Technical Paper