This repository houses three Libpanda Apps. These application combine the vehicle interfaces from can_to_ros (which itself also uses the libpanda repo), a few modular ROS-based controllers from jmscslgroup, and new scripts contained herein.
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- Middleway - Middle Way VSL experimental control, converts I24 speed limits to velocity set points, with a CBF-based safety filter and P-Control. Control will exceed the set speed somewhat if prevailing speeds locally measured exceed the set speed a lot. Outside of the TDOT Smart Corridor, the driver engaging the cruise control sets a 'speed limit' which is the entry velocity state of ACC.
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- VSL - VSL experiment, converts I24 speed limits to velocity set points using CBF and PID. I.e. automatically follows variable speed limit inside TDOT Smart Corridor.
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- Lead_Accel Estimator - Testing sensor-based estimation of the acceleration of the leader vehicle, investigating a Higher Order CBF-based safety filter.
These apps are combinations of the scripts in the scripts directory. These keep track of the GPS state (in/out geofenced areas, heading), as well as processing the forward facing radar sensor for a prevailing speed estimate, simple control laws for combining modular controllers, and multiplexing to keep the system state switching smooth and simplified.
@inproceedings{bunting2024libpanda, title={Libpanda Apps: Managing the Deployment and Reuse of a Cyber-Physical System}, author={Bunting, Matthew and Nice, Matthew W and Richardson, Alex A and Sprinkle, Jonathan and Work, Daniel B}, booktitle={2024 IEEE Workshop on Design Automation for CPS and IoT (DESTION)}, pages={40--45}, year={2024}, organization={IEEE} }
Cite the main app (MiddleWay):
@inproceedings{nice2024middle, title={A middle way to traffic enlightenment}, author={Nice, Matthew W and Gunter, George and Ji, Junyi and Zhang, Yuhang and Bunting, Matthew and Barbour, Will and Sprinkle, Jonathan and Work, Daniel B}, booktitle={2024 ACM/IEEE 15th International Conference on Cyber-Physical Systems (ICCPS)}, pages={147--156}, year={2024}, organization={IEEE} }
Cite vsl-following app:
@article{nice2023sailing, title={Sailing cavs: Speed-adaptive infrastructure-linked connected and automated vehicles}, author={Nice, Matthew and Bunting, Matthew and Gunter, George and Barbour, William and Sprinkle, Jonathan and Work, Dan}, journal={arXiv preprint arXiv:2310.06931}, year={2023} }