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Releases: fs-feup/autonomous-systems

v1.2.0

09 Dec 19:07
@Davide64-dev Davide64-dev
v1.2.0
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v1.2.0 Latest
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Fifth Release of the FSFEUP 01 System

The fifth release represents an advancement in the FSFEUP 01 System's development, marking a special achievement: the successful execution of acceleration and zigzag tracks with a real vehicle on the ground. This demonstrates the system's ability to integrate its advanced autonomous driving capabilities into real-world scenarios, highlighting significant progress toward practical deployment. The vehicle's physical model has been fully integrated, enhancing the system's real-world adaptability and precision.
Key highlights of this release include:

  • Real-World Testing Milestone: The system has now completed both acceleration and zigzag maneuvers with a real vehicle, demonstrating seamless interaction with real-world dynamics.
  • Vehicle Model Integration: The vehicle's physical model has been embedded into the system, ensuring improved handling, response, and system realism during testing.
  • Enhanced Path Planning: New fixes and optimizations have improved path planning reliability and responsiveness under diverse driving scenarios.
  • Dashboard Improvements: UI/UX enhancements have been made to ensure better usability and system monitoring during tests and operations.
  • Control System Updates: Fixed key issues related to steering clamp behavior, ensuring more stable and reliable vehicle control under varying conditions.
  • Mono-repo Transition: The system's codebase has been transitioned to a mono-repo structure for streamlined development, testing, and future enhancements.
  • On-Ground Evaluation Metrics: New metrics have been introduced to evaluate vehicle performance during real-world testing and refine system analysis.
    This fifth release builds on prior achievements while incorporating key improvements and optimizations that expand the FSFEUP 01 System’s capabilities. With these updates and milestones, the system is now better equipped for deployment in increasingly complex and real-world driving scenarios, providing enhanced stability, efficiency, and performance.

What's Changed

Full Changelog: v1.1.0...v1.2.0

What's Changed

New Contributors

Full Changelog: v1.1.0...v1.2.0

Contributors

yvesb04, BrunoDias201907828, and 2 other contributors
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v1.1.0

20 Oct 21:15
@Davide64-dev Davide64-dev
v1.1.0
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v1.1.0

Fourth Release of the FSFEUP 01 System

This release marks a significant milestone. It features a fully functional autonomous driving pipeline capable of completing a full lap in simulation, utilizing the LiDAR-based perception pipeline. The first iteration of perception, state estimation, and path planning tests with real-world data has also been implemented.

Key updates include:

  • Inspection Script Improvements: Debugging capabilities for real-life testing have been improved.
  • Perception Improvements: New heuristics, based on Z-Score analysis and minimum height filtering, have been introduced for more robust object detection.
  • Path Planning Enhancements: A memory feature for storing previous iterations has been added, and there is now an option to activate or deactivate outlier removal during planning.
  • Control System Updates: The control system can now handle tracks with variable velocity, adapting to different conditions.
  • State Estimation: The Extended Kalman Filter (EKF) now boasts improved execution time for faster and more efficient processing.

What's Changed

Full Changelog: 1.0.0...v1.1.0

Contributors

yvesb04, marhcouto, and 3 other contributors
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v1.0.0

08 Aug 16:00
@marhcouto marhcouto
1.0.0
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v1.0.0

Third release of the FSFEUP 01 system. Features complete and functional autonomous pipeline with full lap in simulation:

  • Advancements in the evaluation pipeline, with generation of reports and upload to the cloud
  • Path planning deep code refactoring and tuning
  • EKF implementation of new data association method using mahalanobis distance (takes covariance into account)
  • Control further tuning and smooth lookahead point calculation
  • Perception tuning with real data
    The pipeline is capable of going around a track multiple times. Improvements need to be made in reliability of state estimation, which renders the pipeline unstable and still not too functional without using simulated perception

What's Changed

Full Changelog: v0.3.0...1.0.0

Contributors

andrelds11, yvesb04, and 4 other contributors
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v0.3.0

03 Jun 21:31
@marhcouto marhcouto
v0.3.0
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v0.3.0

Second release of the FSFEUP 01 system. Features complete and functional autonomous pipeline:

  • EKF refactored and bug free
  • Perception improved with stronger cone validation and grid Ransac for ground removal
  • Path planning with path coloring, map spline matching, delaunay and smoothing
  • Pure Pursuit controller added
  • Evaluation tools developed
  • EUFS and Pacsim simulators set-up
  • Robust code evaluation tools set-up
    The pipeline has been shown to work overall, being able to conduct the vehicle in a track. Even so, it is still buggy and many improvement can be made.

What's Changed

Full Changelog: v0.2.0...v0.3.0

Contributors

andrelds11, yvesb04, and 6 other contributors
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v0.2.0

02 Mar 23:34
@marhcouto marhcouto
v0.2.0
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v0.2.0

First release of the FSFEUP 01 system. Big developments, but the release does not contain a fully functional system yet. Major differences:

  • EKF improved with sparse matrixes and Eigen multi-thread
  • LiDAR Perception complete untuned pipeline
  • Path Planning bugs corrections and smoothing applied
  • PI-D velocity controller implementation untested
  • KISS ICP set up
  • Adapter refactor

What's Changed

New Contributors

Full Changelog: v0.1.1...v0.2

Contributors

andrelds11, yvesb04, and 6 other contributors
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End of System 0 (22-23 FSFEUP Driverless)

05 Nov 16:22
@marhcouto marhcouto
v0.1.1
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End of System 0 (22-23 FSFEUP Driverless)

Final release of the first system (System 0). This system contained a full implementation of an AD system. It was however very faulty. It used:

  • Camera based perception with ZED2 stereo camera and YOLOv5m6
  • EKF SLAM with odometry based localisation
  • Delaunay Triangulations middle-path planning
  • PID or MPC based control
  • EUFS SIM and CAN control

The system competed in FSUK-AI 2023, having managed to complete all inspections, dynamic and static. Despite not having competed in any dynamic event and a mediocre performance overall, the team won the first place for te FS-AI Business Plan presentation.

System developed by the Formula Student FEUP team's Driverless department of 2022-2023:

Contributors

diogohalmeida, TsarkFC, and 9 other contributors
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System Integration

14 Jul 14:36
@TsarkFC TsarkFC
v0.1.0
153c8c3
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System Integration
  • First release containing the all the different components integrated
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Sprint #3

19 Apr 08:47
@TsarkFC TsarkFC
v0.0.2
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Sprint #3

Contains the code that resulted from the end of the third sprint

  • Uses the stereo camera virtualization present in the EUFS simulator
  • Cone detection model integrated in the simulator
  • Improvements in the PID algorithm (considering acceleration changes)
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Sprint #2

08 Mar 15:50
@TsarkFC TsarkFC
v0.0.1
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Sprint #2

First release, containing the code that resulted from the end of the second sprint

  • Contains initial repository structure
  • Defined automation workflows (testing, code verifications)
  • Path planning finding the middle path of a race track
  • Control communicating with EUFS simulator
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