Software Pipeline

FSD

Introduction

1

Alexander Isenko

24.04.2017

Offline Map

Offline

2

DGPS Coursewalk

\vdots
\vdots
\vdots
\vdots
. . .
.... . .

Line Calculation

Offline

3

Approximating the optimal line

Iterative process based on minimizing curvature on randomly placed nodes. Depends on:

  • Mass of the car
  • Friction coefficient
  • Speed of the car

State Action Loop

Online

4

Sensors

Position

Next node to approach

Controller

gas °

brakes °

turning wheel °

Real World

- speed

- wheel motion

- ...

Collision Detection

Online

5

Sensors

Position

Next node to approach

C

Obstacle detected

Online recalculation with simple Monte Carlo

Controller

Online

6

C

Sensors

Line

Gas / Brake / Steering

Task:

  • Be general enough to handle discrepancy between simulation and real world
  • Be speed independent
  • Be better than naive controller /w same line
  • Be robust

 

Controller - Robustness

Online

7

Controller Training

Training

8

Controller

Sensors ~ CM

Line

Gas / Brake / Steering

CarMaker

Reward: -time

do action

Adversarial

Agent

Modify environment to disturb agent

Reward: time

Postface

9

\mathcal{PWd} \; \textit{17.1}
PWd17.1\mathcal{PWd} \; \textit{17.1}