Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
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Safety Critical Control of Autonomous Vehicles by Control Barrier Functions
Bug Description
This is to report the various bugs that were encountered while running the CARLA simulation through the single_obstacle_CBF.py file. The recurrent and reproducible bugs observed so far which might be a consequence of the code's mistakes are:
DBM_CBF_2DS()
was integrated and the CodeOptions
enumerations were added to switch between different modes of simulation; however, removing the CBF doesn't make a difference. Running the code after removing the CodeOptions
enumerations hasn't been tried yet.LateralStanley()
fails to track properly at higher velocities. This is possible due to the stable steering set varying at different speeds, thus requiring different gains for different speeds as well as different reference velocities such that the lateral stability is maintained while taking turning maneuvers.Bugs which might be not be related to a logical mistake in the Code, and might be an external program's fault:
Bugs which are possibly happening due to incomplete model information:
carla.VehiclePhysicsControl()
) don't appear to be w.r.t the same reference. Furthermore, their actual reference point is not determined.To Reproduce
As of commit d4e4969, the following steps should reproduce the behavior:
./CarlaUE4.sh -opengl -quality-level=Low -RenderOffScreen
.single_obstacle_CBF.py
script with the following options in the CodeOptions
enum class: INSTANTLY_START_EGO_ENGINE = True
, and set CBF_MODE
to CodeOptions.ACCELERATION_CBF
.Expected behavior
Screenshots
No screenshots available, please follow the steps above to reproduce the error. Checkout the above mentioned commit if HEAD has moved on.
Desktop:
Bug Description
Setting the timestamp
attribute as a property (using the @property
decorator) doesn't allow classes to derive from the cbf.utils.Timer()
class.
To Reproduce
Try inheriting from the cbf.utils.Timer()
class.
Expected behavior
Successful inheritance allowing for the usage of the timestamp attribute for ROS related time-stamping and synchronization for objects of the cbf.obstcles
module relying on timely state updates.
Desktop:
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