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1© 2019 The MathWorks, Inc.
Evaluate Path Planner and Controller for Automated
Parking
Shusen Zhang
Application Engineering, MathWorks
2
Learn about path planning with these examples
MATLAB
example
Simulink test
bench
3
Learn about path planning with these examples
How robust is the
algorithm?
How can I handle
moving pedestrian
How can I automate
the tests?
4
Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
▪ Improve design to handle moving pedestrian
▪ Test automation for regression tests
5
Requirement 1: vehicle can only move forward
6
Requirement 2: vehicle can’t cross parking lanes
7
Requirement 3: algorithm must be able to handle loop.
8
Baseline model in the product
9
Single test case in the baseline model
10
Software model
11
Main modules
Planning
Inflation
Collision
Checking
12
Main modules
PlanningControlPath
Analyzer
13
Explore baseline behavior with multiple goal poses
14
Explore behavior with single goal pose
15
Explore behavior with single goal pose
16
Changing testing condition
17
Explore behavior with goal pose that generates a loop in path
18
Isolate issue based on simulation results
Planner
finds the
goal
Controller
is mostly
tracking
Path
Analyzer
19
Existing path analyzer
▪ Find a point on the path for the vehicle to follow
Minimum
distance to entire
path
20
Existing path analyzer
21
Modified path analyzer
▪ Find a point on the path for the vehicle to follow
Incremental
projection
Ref Path
i
i+1
i+2
i-1
u
u = 1
22
Modified path analyzer
23
Explore behavior with improved path analyzer
24
Reduce turning radius and speed
25
Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
– Remove intermedia points
– Specify different parking maps and spots
– Identify design issue and improve the design.
▪ Improve design to handle moving pedestrian
▪ Test automation for regression tests
26
Build test bench to test dynamic scenario
Scenario Authoring
27
Identify changes to react to pedestrian 1. Update map
based on
scenario
2. Aware of
potential
collision3. React to
imminent
collision
28
Update map based on scenario1. Update map
based on
scenario
2. Aware of
potential
collision3. React to
imminent
collision
29
Update map based on scenario
30
Identify changes to react to pedestrian 1. Update map
based on
scenario
2. Awareness of
potential
collision3. Action with
potential
collision
31
Awareness of potential collision
Time-to-
collision
calculation
32
Time-to-collision with known path
Reference
Actual
33
Identify changes to react to pedestrian 1. Update map
based on
scenario
2. Awareness of
potential
collision3. Action with
potential
collision
34
Action with potential collision
▪ Reduce speed when TTC is low
Time to collision
Input
35
Test in dynamic environment
36
Improve design to handle pedestrians
37
Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
– Remove intermedia points
– Specify different parking maps and spots
– Identify design flaws and improve the design.
▪ Improve design to handle moving pedestrian
– Add moving pedestrian
– Create costmap from ground truth
– Reduce speed based on time-to-collision
▪ Test automation for regression tests
38
Automate regression testing
39
Test assessment metrics
40
Test assessment metrics
Trajectory
Reference
PointDistance
Metric
Yaw Metric
TTC Metric
Pedestrian
41
Test iteration
▪ Tests definition and test management
42
Testing multiple goal poses
Pedestrian
43
Automate regression testing
▪ Use test manager to inspect reason of failed test. Yaw Metric
44
Automate regression testing
Less deviation
with higher
gain
45
Automate regression testing
Re-planning
and latency
Environment
model
uncertainty
Complex
parking lot
Backward
motion
46
Automate regression testing
……………………….
47
Evaluate Path Planner and Controller for Automated Parking
▪ Explore system robustness with simulation
– Remove intermediate points
– Specify different parking maps and spots
– Identify design flaws and improve the design
▪ Improve design to handle moving pedestrians
– Add moving pedestrian
– Create costmap from ground truth
– Reduce speed based on time-to-collision
▪ Test automation for regression tests
– Add metrics for planner and controller
– Add test case definition/ management