Herbie the Love Bug

Team Members

• Cian Woods (cwoods4@jaguarlandrover.com)
• Anirudh Venkata (anirudh.av93@gmail.com)
• M. R. Rahim (dommgr01@gmail.com)
• Glyn Matthews (glyn.matthews@gmail.com)

Solution

In order to complete the project, we were required to enable the car to travel around the track, stopping when the traffic lights were red, and continuing again once the traffic lights turned green. The implementation was made on three components, the traffic light detector (tl_detector), the waypoint updater for path planning (waypoint_updater), and drive-by-wire for vehicle control (twist_controller).

Traffic Light Detector

The code for this node can be found in tl_detector.py and tl_classifier.py.

tl_detector.py

The traffic light detection node subscribes to four topics: base_waypoints, current_pose, image_color and traffic_lights. TLDetector is responsible for finding the nearest traffic light position calculated on distanceCalculation() method and calls light_classifier.get_classification() with the current camera image. It uses the light classifier to get a color prediction. The node then publishes traffic_waypoints - the location of any upcoming red lights for other nodes to control the vehicle.

tl_classifier.py

For traffic light detection and classification we decided to use an SSD (Single Shot MultiBox Detector) network as the purpose of an SSD is detect the location and classify the detected object in one pass through the network. This will improve performance for two reasons:

• Detection and classification are now a single function instead of two operations running on the same image. This eliminates and potential duplication of work.
• The network chosen faster_rcnn_resnet101 is relatively performant running at > 10fps on the students mid tier gpu (Nvidia GTX 1060).

Due to the limited amount of data available to train the network the decision was made to take a pre-trained network and transfer learn the network on the available simulated and real datasets provided by Udacity. The chosen network was pre-trained with the COCO dataset.

Transfer learning was achieved using the Object Detection API provided by Tensorflow. For simulated data the network was trained on the provided data by Udacity, however real data provided by Udacity was supplemented with a dataset of labelled traffic lights provided by Bosch. This dataset can be found here.

Waypoint Updater

The code for this is entirely in the waypoint_updater.py file.

Firstly, there are two callback inputs: waypoints_cb sets the base waypoints (these don't change, so they are only set once) and traffic_cb sets the index of the waypoint where the next stop line is. This value is set to the index of stop line waypoint when the traffic lights immediately ahead are red, and is -1 otherwise.

The main processing loop, in pseudocode, does the following:

for each update:
    index = self.get_closest_waypoint_index()
    lane = self.generate_lane(index)
    self.final_waypoints_pub.publish(lane)

For each update, the index of the closest waypoint to the vehicle is computed. From this waypoint, we look 100 waypoints ahead and publish them to the simulator. These waypoints control the speed of the vehicle, and in all normal circumstances we don't modify the speed (there are no other vehicles and no obstacles in the simulator).

However, we do want to control the speed when the traffic light ahead is red. The the generate_lane function updates the speed value assigned to the waypoints when the vehicle needs to stop at the next stop line. In our implementation, we simply use the code from the video in the project introduction with only minor modifications.

Drive-By-Wire

The drive-by-wire node controls the throttle, brake, and steering values of the vehicle. The main updates in the code are in dbw_node.py and twist_controller.py.

The inputs to DBWNode are the properties of the vehicle, including the mass, fuel capacity and wheel radius. It continuously publishes the SteeringCmd, BrakeCmd and ThrottleCmd.

The main processing loop does the following:

for each update at 50Hz:
    cte = self.compute_cte()
    throttle, brake, steering = self.controller.control(..., cte)
    self.publish(throttle, brake, steering)

The role of the controller is to take the actual vehicle velocity and the expected vehicle velocity, and to compute the values of the throttle, brake and steering. These values are published to the simulator.

The main processing happens in twist_controller.py. Firstly, the actual velocity is filtered using a low pass filter. The steering value (the yaw) is calculated using the YawController provided. A PID controller is also used to add stability to the steering value. This uses the CTE value compute in the DBWNode and passed as an argument to the control function. The throttle is also computed using a PID controller. The brake value is not controlled in a sophisticated way - a high value (700nm) for the brakes is provided when the vehicle needs to be fixed in place (e.g. at the stop line). When the vehicle is slowing down, a proportional value of the brakes is computed based on the total vehicle mass, assuming that the gas tank is full.

Summary

Using the code in this submission, the vehicle is able to drive in its lane, and to correctly stop at the stop line when the traffic lights are red. When leaving the simulator run for a long period of time, each of us noted that the vehicle would eventually leave the track. The precise reason why has proven difficult to pin down, because of system latency issues. Even when running on the project workspace, it is difficult to find out exactly how to tweak the values of, e.g., the PID controller co-efficients. Also, the waypoint updater is updated at a rate of only 5Hz. A higher value is too unstable to test.

By following the walkthroughs in the project introduction, it was possible to build a system that came very close to "submittable" project. On top of the walkthrough code, we improved the traffic light classification and added some additional stability to the DBW node.

This project has been very useful to show how to bring all the components we have learnt during the course of a total self-driving system. While earlier projects were more complex to solve, what we gained from this experience was how to combine everything together, from perception, to path planning, to vehicle control. The full complexity of building a self-driving car has become clear. Testing them and tweaking for performance is a huge challenge.

Installation

This is the project repo for the final project of the Udacity Self-Driving Car Nanodegree: Programming a Real Self-Driving Car. For more information about the project, see the project introduction here.

Please use one of the two installation options, either native or docker installation.

Native Installation

• Be sure that your workstation is running Ubuntu 16.04 Xenial Xerus or Ubuntu 14.04 Trusty Tahir. Ubuntu downloads can be found here.

• If using a Virtual Machine to install Ubuntu, use the following configuration as minimum:

  • 2 CPU
  • 2 GB system memory
  • 25 GB of free hard drive space

  The Udacity provided virtual machine has ROS and Dataspeed DBW already installed, so you can skip the next two steps if you are using this.

• Follow these instructions to install ROS

  • ROS Kinetic if you have Ubuntu 16.04.
  • ROS Indigo if you have Ubuntu 14.04.

• Dataspeed DBW

  • Use this option to install the SDK on a workstation that already has ROS installed: One Line SDK Install (binary)

• Download the Udacity Simulator.

Docker Installation

Install Docker

Build the docker container

docker build . -t capstone

Run the docker file

docker run -p 4567:4567 -v $PWD:/capstone -v /tmp/log:/root/.ros/ --rm -it capstone

Port Forwarding

To set up port forwarding, please refer to the instructions from term 2

Usage

1. Clone the project repository

git clone https://github.com/udacity/CarND-Capstone.git

2. Install python dependencies

cd CarND-Capstone
pip install -r requirements.txt

3. Download trained models from google drive and move models into ros/src/tl_detector/perception/ .
4. Make and run styx

cd ros
catkin_make
source devel/setup.sh
roslaunch launch/styx.launch

5. Run the simulator

Real world testing

1. Download training bag that was recorded on the Udacity self-driving car.
2. Unzip the file

unzip traffic_light_bag_file.zip

3. Play the bag file

rosbag play -l traffic_light_bag_file/traffic_light_training.bag

4. Launch your project in site mode

cd CarND-Capstone/ros
roslaunch launch/site.launch

5. Confirm that traffic light detection works on real life images