.. test documentation master file, created by sphinx-quickstart on Tue Dec 13 19:15:30 2022. You can adapt this file completely to your liking, but it should at least contain the root `toctree` directive. Project activity by member ================================ Penn State Team ------------------------ Traffic and vehicle simulations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. image:: Images/ADS_overview_diagram.png * `TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA`_: Launch page to get started with CARLA (IVSG - PSU internal) * `TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithSUMO`_: Launch page to get started with SUMO (IVSG - PSU internal) * `TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA-SUMOCosimulation`_: Launch page to get started with CARLA-SUMO cosimulation (IVSG - PSU internal) Mapping ~~~~~~~~~~ About the Mapping Van: :::::::::::::::::::::::: * `Mapping_MappingVan_About`_: General information about the Penn State Mapping Van. Mapping van is shown below. .. image:: Images/MappingVanAtBeaver.png Choice of Coordinate Systems for Wide Areas: :::::::::::::::::::::::::::::::::::::::::::::::: * `Mapping_CoordinateSystems_WideAreas`_: Discussion of coordinate systems and the errors each can introduce when mapping large areas (cloned from IVSG on 2023 04 03).The coordinate system conversions through simulation work are as below. .. image:: Images/Coordinat_System_Conversion.png Hardware: ~~~~~~~~~~~~~~~~~~~~~ * `Hardware_MappingVanHardware_CADdrawings`_: The mapping van measurements used for the GPS antenna calibration. Sample CAD drawings are below. .. image:: Images/MappingVanCADDrawing.png .. image:: Images/labelledSensorsCADDrawing.png Power System: * `Hardware_MappingVanHardware_PowerSystem`_: Setup of power system (IVSG - PSU internal) Time Synchonization: * `FieldDataCollection_TypicalHardwareSetups_TriggerCameraUsingExternalSignal`_:Methods to externally trigger FLIR cameras to external trigger signals. (IVSG - PSU internal) * `FieldDataCollection_TypicalHardwareSetups_TimeSync_ArduinoUsingGPSPPS`_: Producing tight time-trigger pulses (less than 20 microseconds jitter) via Arduinos. (IVSG - PSU internal) * `FieldDataCollection_TypicalHardwareSetups_TimeSyncTriggerBox`_: CAD models for trigger box. (IVSG - PSU internal) Sensors - Cameras: * `Hardware_MappingVanHardware_Camera`_: Remounting the cameras to improve regidity, water intrusion, and hardware faults. (IVSG - PSU internal) * `Camera Calibration`_ : Methods used to calibrate the camera system. (IVSG - PSU internal) Sensors - LIDAR: * `Hardware_MappingVanHardware_LiDAR`_: Documents of LiDAR specs. (IVSG - PSU internal) * `FieldDataCollection_TypicalHardwareSetups_LIDARs_CeptonX90Install`_: Procedure of installing CeptonX90 LiDAR. (IVSG - PSU internal) * `FieldDataCollection_TypicalHardwareSetups_LIDARs_VelodyneVLP16Install`_: Procedure of installing VelodyneVLP16 LiDAR. (IVSG - PSU internal) Sensors - Wheel Encoders: * `Hardware_MappingVanHardware_Encoder`_: Setup of encoders. (IVSG - PSU internal) Sensors - Radar: * `Hardware_MappingVanHardware_Radar`_: Setup of Radar. (IVSG - PSU internal) Sensors - GPS: * `Hardware_MappingVanHardware_GPS`_: Setup of GPS. (IVSG - PSU internal) * `FieldDataCollection_GPSRelatedCodes_RTKCorrectionService`_: Setting up and using of Real-time kinematic (RTK) via Networked Transport of RTCM via Internet Protocol (NTRIP).(IVSG - PSU internal). .. image:: Images/BaseStateionsLocation.png Sensors - IMU: * `Hardware_MappingVanHardware_IMU`_: Setup of IMU. (IVSG - PSU internal) Sensors - Steering System: * `Hardware_MappingVanHardware_SteeringSystem`_: Setup of steering system. (IVSG - PSU internal) Calibration: ~~~~~~~~~~~~~~~~~~~~ To be added: Data Collection: ~~~~~~~~~~~~~~~~~~ To be added. Data Processing: ~~~~~~~~~~~~~~~~~ Processing GPS Data: * `DataProcessing_GPS_GPSConversionMethods`_: A repo sharing the algorithms used for GPS conversions, e.g. LLA to ENU (cloned from IVSG on 2023 04 03). Maps and scenarios: ~~~~~~~~~~~~~~~~~~~~~~ * `FieldDataCollection_VisualizingFieldData_PlotWorkZone`_: A repo displaying the scenarios and their descriptions. (IVSG - PSU internal) .. image:: Images/plotWorkZone.png Data Parsing: ~~~~~~~~~~~~~~~~~~~~ * `FieldDataCollection_DataCollectionProcedures_ParseRawDataToDatabase`_: Parse raw data (.bag) to raw data database. (IVSG - PSU internal) * `FieldDataCollection_DataCollectionProcedures_DataTransferWithDMS`_:Transfer data to PennDOT DMS. (IVSG - PSU internal) * `FieldDataCollection_DataCollectionProcedures_AutomatingDataTransferToDMSUsingCommandLine`_: Transfer data to PennDOT DMS using command line tools. (IVSG - PSU internal) * `FieldDataCollection_DataCollectionProcedures_StitchingImagesToVideo`_:Stitching parsed images into a video. (IVSG - PSU internal) The data flow of the simulation is below: .. image:: Images/PennDOT_Simulation_Workflow_V2.drawio.png Simulating construction scenarios: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * `Simulating a traffic flow on Penn State test track`_: The work in this area involves information to guide how to simulate a traffic flow on Penn State test track. (IVSG - PSU internal) .. image:: Images/simulateFlowOnTrack.png * The following table shows the three roadway situations for the simulation: urban, artirial and highway, including the location we picked in State College and the corresponding data link. .. csv-table:: 3 Situations Sumamry :file: tables/three_situations.csv :header-rows: 1 * The following table shows the summary about whether the considered three roadway situations could be applied to each of the proposed 20 scenarios. .. csv-table:: 20 Scenarios - 3 Situations Sumamry :file: tables/20scenarios.csv :header-rows: 1 Simulation post processing: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * `FeatureExtraction_Association_PointToPointAssociation`_: Functions are provided to determine matches between data sets of (X,Y) points, store and compare groups of associated points (patch objects), and determine intersections between patch objects and circular arcs (useful for collision detection). .. image:: Images/fcn_Points_fillPointSampleSets_Ex3.jpg * `FeatureExtraction_SafetyMetrics_SafetyMetricsClass`_: MATLAB code implementation of functions that perform safety metric calculations given a set of objects and a path through them. .. figure:: Images/TTC.png :align: center Time to collision .. figure:: Images/lanechange.gif :align: center Demo of vehicle doing a lane change PennDOT Team -------------- To be added HNTB Team ------------ To be added CMU Team ------------- To be added Deloitte Team -------------- To be added PPG Team ------------- To be added Drive Team -------------- To be added Michael Baker International ------------------------------- To be added .. _Simulating a traffic flow on Penn State test track: https://github.com/ivsg-psu/TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithSUMO/blob/main/Documents/Simulating%20test%20track%20in%20SUMO.pptx .. _TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA-SUMOCosimulation: https://github.com/ivsg-psu/TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA-SUMOCosimulation .. _TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithSUMO: https://github.com/ivsg-psu/TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithSUMO .. _TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA: https://github.com/ivsg-psu/TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA .. _Mapping_MappingVan_About: https://connectedvehicles.psu.edu/ .. _Mapping_CoordinateSystems_WideAreas: https://github.com/PAWorkzoneAutomation/TrafficSimulators_WideAreaCoordinateSystems .. _DataProcessing_GPS_GPSConversionMethods: https://github.com/PAWorkzoneAutomation/FieldDataCollection_GPSRelatedCodes_GPSClass .. _FieldDataCollection_DataCollectionProcedures_StitchingImagesToVideo: https://github.com/ivsg-psu/FieldDataCollection_DataCollectionProcedures_StitchingImagesToVideo .. _FieldDataCollection_DataCollectionProcedures_AutomatingDataTransferToDMSUsingCommandLine: https://github.com/ivsg-psu/FieldDataCollection_DataCollectionProcedures_AutomatingDataTransferToDMSUsingCommandLine .. _FieldDataCollection_DataCollectionProcedures_DataTransferWithDMS: https://github.com/ivsg-psu/FieldDataCollection_DataCollectionProcedures_DataTransferWithDMS .. _FieldDataCollection_DataCollectionProcedures_ParseRawDataToDatabase: https://github.com/ivsg-psu/FieldDataCollection_DataCollectionProcedures_ParseRawDataToDatabase .. _FieldDataCollection_TypicalHardwareSetups_TriggerCameraUsingExternalSignal: https://github.com/ivsg-psu/FieldDataCollection_TypicalHardwareSetups_TriggerCameraUsingExternalSignal .. _FieldDataCollection_TypicalHardwareSetups_TimeSync_ArduinoUsingGPSPPS: https://github.com/ivsg-psu/FieldDataCollection_TypicalHardwareSetups_TimeSync_ArduinoUsingGPSPPS .. _FieldDataCollection_TypicalHardwareSetups_TimeSyncTriggerBox: https://github.com/ivsg-psu/FieldDataCollection_TypicalHardwareSetups_TimeSyncTriggerBox .. _Hardware_MappingVanHardware_Camera: https://github.com/ivsg-psu/FieldDataCollection_TypicalHardwareSetups_TriggerCameraUsingExternalSignal .. _Camera Calibration: https://github.com/ivsg-psu/ivsg_master/tree/master/CameraCalibration_wiki .. _Hardware_MappingVanHardware_LiDAR: https://github.com/ivsg-psu/Hardware_MappingVanHardware_LiDAR .. _FieldDataCollection_TypicalHardwareSetups_LIDARs_VelodyneVLP16Install: https://github.com/ivsg-psu/FieldDataCollection_TypicalHardwareSetups_LIDARs_VelodyneVLP16Install .. _Hardware_MappingVanHardware_Encoder: https://github.com/ivsg-psu/Hardware_MappingVanHardware_Encoder .. _Hardware_MappingVanHardware_Radar: https://github.com/ivsg-psu/Hardware_MappingVanHardware_Radar .. _Hardware_MappingVanHardware_PowerSystem: https://github.com/ivsg-psu/Hardware_MappingVanHardware_PowerSystem .. _Hardware_MappingVanHardware_GPS: https://github.com/ivsg-psu/Hardware_MappingVanHardware_GPS .. _Hardware_MappingVanHardware_IMU: https://github.com/ivsg-psu/Hardware_MappingVanHardware_IMU .. _Hardware_MappingVanHardware_SteeringSystem: https://github.com/ivsg-psu/Hardware_MappingVanHardware_SteeringSystem .. _FieldDataCollection_TypicalHardwareSetups_LIDARs_CeptonX90Install: https://github.com/ivsg-psu/FieldDataCollection_TypicalHardwareSetups_LIDARs_CeptonX90Install .. _FieldDataCollection_VisualizingFieldData_PlotWorkZone: https://github.com/ivsg-psu/FieldDataCollection_VisualizingFieldData_PlotWorkZone .. _Hardware_MappingVanHardware_CADdrawings: https://github.com/ivsg-psu/Hardware_MappingVanHardware_CADdrawings .. _FieldDataCollection_GPSRelatedCodes_RTKCorrectionService: https://github.com/ivsg-psu/FieldDataCollection_GPSRelatedCodes_RTKCorrectionService .. _FeatureExtraction_Association_PointToPointAssociation: https://github.com/ivsg-psu/FeatureExtraction_Association_PointToPointAssociation .. _FeatureExtraction_SafetyMetrics_SafetyMetricsClass: https://github.com/ivsg-psu/FeatureExtraction_SafetyMetrics_SafetyMetricsClass