01 / IMPLEMENTATION & CONTRIBUTION
What the work involves
Donald implemented lane-segmentation stages, curvature-based speed control, particle-filter updates, eight-direction LiDAR support, and an offline localization parameter sweep within shared course infrastructure.
Technical depth
Lane masks transformed into bird-eye geometry and fitted lane curves; waypoint lookahead and turn anticipation for speed selection; particle likelihoods with finite-weight safeguards, systematic resampling and GPS reseeding under low effective sample size; eight-direction LiDAR support; offline generated motion/noise trials measuring position RMSE, heading RMSE, convergence and ESS.
The project family
uiuc/ece48402 / RESULTS
What came out of it
An integrated set of perception, control, and localization modules, with training checkpoints and simulation experiments that compare position error, heading error, convergence, and effective sample size.
03 / SUPPORTING EVIDENCE
Follow the source
Implementation notes, project records, and supporting artifacts.
Source context & project scope
Shared course/team workspace; do not attribute the simulator, model backbone or all source to Donald.
Configured rates and speeds are not measured physical performance.
Offline tuning uses synthetic sequences and cannot substitute for physical vehicle evaluation.
MP0 contains a preliminary decision-rule study with remaining scaffolding; it is not a separately verified autonomous system.
Donald commit 7d45ffc modifies lane-segmentation steps; current node combines segmentation, BEV geometry and fitted lane output.
SOURCE · 2026-09-17Donald commit c31b8d0 adds curvature-aware longitudinal control; later candidate commits refine the course controller.
SOURCE · 2026-09-17Donald commit 2f1b315 implements likelihood, normalization, resampling and GPS-related logic.
SOURCE · 2026-09-17Donald commit f39ba27 adds standalone generated-sequence parameter sweeps and explicit evaluation metrics.
SOURCE · 2026-09-17Extended LiDAR measurement processing in the attributed localization commit.
SOURCE · 2026-09-17Preliminary Dubins-mode decision logic with scaffold boundaries.
SOURCE · 2026-09-17