STARS experiments based on data from model race cars

This repository analyzes driving data recorded using the STARS framework. The data was recorded using the AuNa Repository.

Running the Analysis

This project is a Gradle project with a shipped gradle wrapper. To execute the analysis simply execute:

• Linux/Mac: ./gradlew run
• Windows: ./gradlew.bat run

Analysis Results

After the analysis is finished you can find the results in the analysis-result-logs sub-folder which will be created during the analysis.

For each execution of the analysis pipeline a sub-folder with the start date and time ist created. In it, each metric of the analysis has its own sub-folder. The analysis separates the results of each metric into different categories with different detail levels.

• *-severe.txt lists all failed metric results
• *-warning.txt lists all warnings that occurred during analysis
• *-info.txt contains the summarized result of the metric
• *-fine.txt contains a more detailed result of the metric
• *-finer.txt contains all possible results of the metric
• *-finest.txt contains all possible results of the metric including meta information

Meta data information

The scenario data has the following properties:

• robot width: 0.2m
• robot length: 0.4m
• track width: 1.4m (each 0.7m orthogonal from the center)
• velocity goal: Depends on the data set, is either 3m/s or 0.8 m/s
• standstill distance: 1.25m
• time distance: 0.25s
• target distance at any time: standstill distance + time distance * speed

Track overview (Line)

Track overview (Scatter)

Track segmentation

As it is visible in the scatter plot above, the straight parts of the track are only mapped by two points. Therefore, we extracted these 4 coordinates for the two straights. We identified the following points:

• (x=-7.09735979561802,y=-1.89133616892839) (lower left corner)
• (x=2.93225065116357, y=-3.27073098672295) (lower right corner)
• (x=-6.09016702472381,y=3.17436982808834) (upper left corner)
• (x=2.7643231790252, y=4.33303506387608) (upper right corner)

Domain Model

Here you can find the domain model that is used for this experiments. All interfaces marked in green come from the STARS framework and are implemented with concrete classes in this repository. The left-hand part of the diagram displays the structure of the messages that are sent by the platooning vehicles. The right-hand part of the diagram shows all classes that are necessary for our analysis.

(Optional) Git Hooks

If you want to use our proposed Git Hooks you can execute the following command:

git config --local core.hooksPath .githooks