.. 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 modality ================================ Traffic and Vehicle Simulation ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. 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) * 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 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 Test track ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ GPS and CORS Calibration ::::::::::::::::::::::::::: * `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 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 collection for on-track tests :::::::::::::::::::::::::::::::::::::: .. image:: Images/workflowOfDataCollection.png Field test ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 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