I Project Plan Autonomous Trucks Version 1.0 Author: Amy Rankka Date: September 24, 2014 Status Reviewed Air 140922 Approved Course name: Control Project E-mail: [email protected]Project group: GrpName Document responsible: Amy Rankka Course code: TSRT10 Author’s E-mail: [email protected]Project: Autonomous Trucks Document name: projplan.pdf
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Project Plan Autonomous Trucks - Linköping University · Autonomous Trucks 1 Project Plan Version 1.0 1 Who is the Orderer? The orderer is Erik Frisk, division of Vehicular Systems,
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The orderer is Erik Frisk, division of Vehicular Systems, ISY, Linkoping University. Thebudget and magnitude of the project is set by him.
2 An Overview of the System
2.1 Purposes and Goals
The goal of the project is to deliver a simulation environment in PreScan1 where youcan simulate autonomous trucks executing missions. Depending on how fast our work isprogressing, the missions it will be able to simulate will be more or less complex.The purpose is also to get used to work with the Lips (Linoping Interactive ProjectSteering) project model and learn how to plan a full scale project from scratch.
2.2 Deliverables
The deliverables consist of a series of documents and the simulation environment accordingto the requirement specification. These are the deliverables:
• Requirement specification, system layout, project plan and time plan, shall behanded in to customer no later than September 24th at tollgate 2
• Design layout and test plan, to be delivered at tollgate 3
• The final product, i.e. the simulation environment, to be delivered shortly aftertollgate 5
• Technical documentation, YouTube-clip, project homepage, poster presentation andproject reflection, to be delivered at tollgate 6
2.3 What is not Included
The simulation environment is customised to fulfil the requirement specification. Usageoutside these specifications is not guaranteed to work in an appropriate way.
This section contains a brief description of what will be executed during the three differentphases of the project.
3.1 Before start
Before the start of the project, a plan of implementation will be developed by writing arequirement specification, a timetable and a project plan.Also, knowledge in the simulationtool PreScan will be acquired.
3.2 During the project
The first task to be done during this phase is to write a design specification and a testplan. The activities defined in the time table will be then executed according to the designspecification with the aim of fulfilling the requirements in the requirement specification.Tests of the system will be held throughout this phase.
3.3 After the project
After the project is finished, a project reflection document will be written, i.e. the projectprocess will be evaluated - what went well, what could have been done differently etc.
The organization of the project consists of the project group with nine members, theorderer, the advisor, the customer and the technical expert.
4.1 Resposibilities of Project Members
There are five main responsible areas, which each will be assigned to one of the members:project leader, document responsible, design responsible, test responsible and bus respon-sible. Besides, four sub groups, each containing two or three members, will be formed:bus group (responsible for bus communication), mapping group (situational awareness),planning group (behaviour layer, mission planner and local planner) and vehicle group(low-level controller and vehicle modelling).
4.2 Organization Plan for each Project Phase
Each subgroup is responsible for its own area during both before (design specification),during (development and implementation) and after (technical report) the project. If itturns out that the extents of the different areas were miss-calculated, the groups can bereshaped.
5 Document Plan
The documents in this project will follow the LIPS standard and will be written usingShareLatex2. One project member will be assigned the responsibility of the documents. Asummary table of all the documents that are intended to be produced during this projectis presented in Table 1.
Document Language Aim Target FormatRequirementsSpecification
English Determines the demands and re-quirements for project delivery.
Orderer PDF
System Lay-out
English Illustrates a simple layout off thecomplete system.
Orderer PDF
Project Plan English Describes the plan of how theproject will be completed.
Orderer PDF
Timetable English Plan of the use of time. Orderer PDFTime Report English A follow up of time use. Orderer PDFDesign Spec-ification
English Well-detailed description of thesystem.
Orderer PDF
TechnicalDocumenta-tion
English Technical description of the fin-ished product.
Orderer PDF
Project Re-flection
English An evaluation of the project afterdelivery.
The group will be split into sub groups and each sub group will be working on differentfields. All code and technical material will be uploaded to a svn repository when somethingis updated so that each member always has access to the latest version. All documentsare on either sharelatex.com or Google Drive during development, depending on type ofdocument. When a new version of a document is written, it should be uploaded to thesvn repository and Google Drive.
7 Training Plan
This sections describes the training the project members and the customer need to fulfilthe requirements of this project.
7.1 Training of the Project Members
The project members need training in the PreScan software. Not all project members willuse PreScan in their work. However it is a good idea to make sure everyone understandsthe basics of the tool when it is such an important part of the project.
The expert has taken a course in the use of PreScan. He will send the course material tothe project group. Each project member is then responsible of acquiring the knowledgecontained in this material.
There may also be other areas that the project members need to be trained in. If theknowledge is available within the group, the member in possession of the knowledge willtrain the project members in need of the knowledge. If the knowledge is not containedwithin the project group the advisor or the expert will be consulted.
7.2 Training of the Customer
When the project is finished the customer may need training in using the developedsoftware. A user guide document will be written and delivered together with the rest ofthe product.
8 Report Plan
Each group member shall fill in their time used during the week on Sunday each week.The project leader will then send this to the customer on the following Monday. Duringmeetings, a meeting protocol will be written for future reference.
Meetings will be held once a week, and will be scheduled on the same time each week ineach schedule period. These meetings will always be held, regardless on the amount ofthings needed to be discussed and attendance is compulsory. An agenda will be sent outto every member by the project leader, at most 12 hours before the meeting. The meetingwill also be added as a post in the project calender. The group members are expected toattend the meeting well-prepared, based on the agenda.
Extra meetings can be arranged if it is considered necessary. If so, attendance cannotbe considered compulsory, but each member is expected to attend if nothing else is onhis/her schedule.
In this sections the resources available in the project will be discussed. This involves bothmaterial and human resources.
10.1 Persons
The human resources available in the project is preliminary the nine project members.An advisor stationed at the university and an expert resource who is stationed at anotherlocation is also available.
10.2 Material and Tools
Two computers lend by the university are available. A powerful computer able to runPreScan is also available in the project room (see section 10.3).
10.3 Work Rooms
A project room possessed by Fordonssystem is available to the project group with 24 hoursa day access. The room has numerous computers that can be used in the project. One ofthese is dedicated for this project only and is configured so that PreScan can be used onit. The other computers are shared between this and other projects on the institution.
10.4 Economy
The economical aspects of the project is only measured in the hours certain resources canbe used. Each project member can be used for 240 hours and the advisor can be used for40 hours.
No. Description Week1 First draft of Design Specification finished 412 Design Specification and Test Plan finished 413 Basic functionality for vehicle controller 424 Subsystems can communicate via LCM 435 Grid map updates in real-time while driving 446 Local planner is integrated with vehicle model 447 Local planner can follow a road 448 Local planner can send reference signals 449 Mission planner has access to map 4510 Vehicle able to go from A to B on roads 4511 Vehicle able to go from A to B on freespace 4612 Mission planner can compute a route 4613 Behaviour layer can determine if the vehicle is on road or
on free-space46
14 Local planner can choose a path on free-space 4615 Vehicle able to go from A to B with obstacles 4716 Local planner can choose a way through a junction 4717 SLAM is integrated. 4718 Behaviour layer can identify an obstacle 4819 Local planner can choose a path to overtake obstacles in
road48
20 Technical Report Finished. 5021 Poster, Youtube-clip and presentation ready for tollgate 6. 50
11.2 Tollgates
This section describes the project tollgates.
No. Description Date2 Requirement specification, project plan (including
timetable) and system layout shall be delivered.14-09-24
3 Design specification and test plan shall be delivered. TBD5 All functionality, test protocol, user guide shall be pre-
sented. Also it shall be presented that the Requirementspecification is full filled.
TBD
6 Technical Report, Project Reflection, Poster Presentation,Project Webbpage and Descriptive YouTube-clip of theproject shall be delivered.
The time table will be followed-up continuously during the project, by each member fillingin the report of time used for each activity. If something needs to be changed, it will bediscussed within the group and adjusted if decided so.
If a requirement specified in the requirement specification needs to be re-negotiated, thishas to be done in consultation with the orderer, well before the delivery date of the partof the product involving the requirement.
If a project member wants to switch task during the project this will be done after dis-cussion with the project leader and other involved project members.
15 Quality Plan
This section describes how the project intends to sustain a high quality of the mate-rial produced during the project. Both documents and developed software is taken intoaccount.
15.1 Reviews
The documents written during this project are going to be kept short enough for almostevery member of the project to have time to read them trough. The benefit of this isthat many different opinions on the content can be collected during the writing processand thereby make sure the quality is satisfying before each document is handed in. Thesecond step in the process of the documents is a hand-in to the advisor who will hand itback with comments.
Regarding code, the way to sustain a high quality is to keeping it readable and usecomments in a smart way. This will be assured by reviewing other project members codeand asking questions of parts not being easy to understand.
15.2 Test Plan
Tests will be performed continuously during the development of the subsystems beforeintegrating them with each other. An official test plan will be made so that each test canbe ticked off before the project is handed in to the orderer. Official tests are designed tocorrespond to one or more requirements to determine if the requirement specification isfulfilled. All level one requirements have to be tested and fulfilled before delivery.
16 Risk Analysis
There is a risk that the project takes more time than expected. If so, the requirements inthe requirement plan needs to be re-negotiated with the orderer. There is a risk that oneor several group member(s) get ill. If so, this member will have to talk to the examiner
and the group in order to decide how the project shall continue for this specific member.Meanwhile, the sub groups will re-shape if necessery. The computer with PreScan mightfail - if so, the orderer needs to make sure it gets fixed as soon as possible.
17 Priorities
The requirements noted with priority 1 are the ones that will be done first. These re-quirements are of the type that are needed to get a basic functionality of the system. Ifthere is time remanaining after that, requirements with priority 2 will be tried to fulfil.
18 Project Closing
The project is closed when the client has approved the work and a project reflection hasbeen handed in. The project will also be presented at a conference before approval.
At the closing of the project as part of the presentation, a web page containing an overviewof the project including video demo, staff list and all documents will be available online.
When all deliveries are made, the project group will be dispersed.