Sensor Fusion UKF Highway Project Starter Code
In this project you will implement an Unscented Kalman Filter to estimate the state of multiple cars on a highway using noisy lidar and radar measurements. Passing the project requires obtaining RMSE values that are lower that the tolerance outlined in the project rubric.
The main program can be built and ran by doing the following from the project top directory.
mkdir buildcd buildcmake ..make ukf_highway./src/ukf_highway
Note that the programs that need to be written to accomplish the project are src/ukf.cpp, and src/ukf.h
The program main.cpp has already been filled out, but feel free to modify it.
main.cpp is using highway.h to create a straight 3 lane highway environment with 3 traffic cars and the main ego car at the center.
The viewer scene is centered around the ego car and the coordinate system is relative to the ego car as well. The ego car is green while the
other traffic cars are blue. The traffic cars will be accelerating and altering their steering to change lanes. Each of the traffic car's has
it's own UKF object generated for it, and will update each indidual one during every time step.
The red spheres above cars represent the (x,y) lidar detection and the purple lines show the radar measurements with the velocity magnitude along the detected angle. The Z axis is not taken into account for tracking, so you are only tracking along the X/Y axis.
- cmake >= 3.5
- All OSes: click here for installation instructions
- make >= 4.1 (Linux, Mac), 3.81 (Windows)
- Linux: make is installed by default on most Linux distros
- Mac: install Xcode command line tools to get make
- Windows: Click here for installation instructions
- gcc/g++ >= 5.4
- Linux: gcc / g++ is installed by default on most Linux distros
- Mac: same deal as make - install Xcode command line tools
- Windows: recommend using MinGW
- PCL 1.2
- Clone this repo.
git clone https://github.com/ohasanliUW/SFND_Unscented_Kalman_Filter.git - Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make - Run it:
./src/ukf_highway - Run tests:
./tests/test
tests directory has been introduced for unit tests with googletest framework. During the cmake configuration, googletest code is pulled automatically.
To collect data for NIS, two file stream objects have been added to UKF class. In order to collect data reliable, only one car had been tracked. After collecting data, Microsoft Excell was used to plot the diagrams. Also, data were analysed manually to make sure 5th, 10th, 90th and 95th percentiles for both Lidar and Radar fall into expected NIS value table.
