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Task 68 — PoC W1-W12 종합 요약 v3 (자동운전 완료 시점)

Field Value
Task ID RPT-PoC-Summary-v3
Type Report
Date 2026-05-29
Status snapshot — 자동운전 11+ cycles 완료 시점
Supersedes Task 40 (v1), Task 52 (v2)

1. Headline

  • Tasks completed: 68
  • Tests passing: 141 / 141
  • PoC W1-W12 진척: ~ 95 %
  • Phase 2 흡수 항목: 12+ (combined slip, Mz, Ackerman, diff, aero, brake bias, EBD, camber API, anti-dive, L5-L8 cascade, pybind11, CARLA skeleton, Driver model)

2. 산출물 정량 (v2 → v3)

카테고리 v2 v3 Δ
Tasks completed 52 68 +16
Reports authored 40+ 45 +5
Source files (core + carla + python) 16 17 +1
Test files 17 18 +1
Tests passing 136 141 +5
Example binaries 12 10 (rebased)
Vehicle configs 4 4 —
Scenario configs 4 7 +3 (j_turn, skidpad, brake_in_turn, ice_corner)
Python tools 3 3 —
External integrations 2 2 (CARLA + pybind11) —

3. W1-W12 진척 v3

Week 계획 v1 v2 v3 Δ from v2
W1 Skeleton + CI 100 100 100 —
W2 Headers + coordinate 100 100 100 —
W3 Tire models 100 100 100 —
W4 L1 + params YAML + scenarios 100 100 100 —
W5-W6 (자체 보강) combined slip / weight transfer / scenario 100 100 100 —
W7-W8 (CARLA) raycast + UE4 0 40 45 +5 (driver-side)
W9-W10 (L2) per-tire + Ackerman + diff + EBD 100 100 100 —
W11-W12 (L3 + ride) full 14-DOF + CarMaker ERG 70 90 95 +5 (anti-dive 검증, ride freq 한계 명시)

PoC W1-W12 전체 80% → 92% → 95%.

남은 5%: - 실제 CARLA UE5 연동 (skeleton 만 진행, RPC 통합 미) - CarMaker ERG 비교 (license + ERGAccess SDK 필요) - L3 의 unsprung damper 분리 (현 모델 한계 명시)

4. 사다리 구현 v3

4.1 Dynamics

Level DOF 상태
L1 5 Full + NaN guard + spdlog
L2 7 Full + per-tire + Ackerman + diff + EBD + steering rack torque feedback
L3 14 Full (sprung 3 + unsprung 4) + anti-dive

4.2 Control

Level 상태
L1-L4 std::visit dispatch + lower_to_l4
L5 PI + FF ax controller
L6 cascade vx PI
L7 Pure Pursuit
L8 waypoint figure-eight cascade
Driver model latency + Gaussian noise (Box-Muller)
LQR / MPC Phase 2 (SMPC paper 통합)

4.3 Tire physics

  • MF96 Pacejka simple form (long + lat) ✓
  • Combined slip (friction ellipse rescale) ✓
  • Aligning Mz (pneumatic trail + falloff) ✓
  • Body-frame Mz aggregation (L1, L2) ✓
  • Steering rack torque output ✓ (이번 cycle 추가)
  • Camber thrust (linear, API only) ✓
  • MF2002 / .tir importer (12 fields) ✓
  • Vertical tire spring (tire_vertical_stiffness) ✓

5. 차종 별 distinct 거동 (4 vehicles, 5 metrics)

Metric sedan sports FSK formula race car
Step steer r_peak [rad/s] 0.180 0.189 0.291 0.181
DLC r_peak [rad/s] 0.313 0.326 0.465 0.305
Brake distance from 20 [m] (>29) 29.0 16.6 18.1
Max brake decel [m/s²] 4.32 6.96 14.18 12.36
Stop time [s] — 2.77 1.68 1.79

6. Tooling 산출물

  • vdsim_scenario_run — YAML scenario runner
  • vdsim_l1_vs_l2 — paired L1/L2 binary
  • vdsim_l3_demo — L3 14-DOF trace
  • vdsim_ax_track_demo — closed-loop ax PID
  • vdsim_path_tracking — L5-L8 cascade
  • vdsim_driver_demo — Driver model figure-8
  • vdsim_split_mu_demo — diff comparison
  • vdsim_bicycle_run — single-tire L1
  • python/sweep_runner.py — Cartesian sweep
  • python/csv_to_scenario.py — ADMA / CarMaker CSV → YAML
  • python/tir_to_yaml.py — AVL .tir → YAML
  • python/bindings.cpp → vdsim.so (Python module)

7. Phase 2 backlog (priority)

Priority 항목 예상 노력
H CARLA UE5 통합 (raycast → CARLA Sensor API) 2-3 주
H CarMaker ERG validation (D17 RMSE 기준) 2 주 (license)
H SMPC / MPC controller (HPIPM) — T-VT/T-IV/T-ITS target 3-4 주
M MF2002 full (Mzr + camber-Mz coupling) 2 주
M L3 의 unsprung damper 분리 (sprung damper vs unsprung damper) 1 주
M 실측 차종 calibration (TUR / FSK / NGII) 1 주 each
L Logging file rotation 1-2 일
L Steering rack torque 의 self-aligning sign 검증 1 일

8. 시연 가능 시나리오 (총 7 종)

  • step_steer
  • double_lane_change
  • throttle_brake_sequence
  • ice_patch (직진 mu transition)
  • j_turn (large brake + turn)
  • skidpad (constant radius — analytical 1% 일치)
  • brake_in_turn (combined slip 의 grip loss -52%)
  • ice_corner (cornering 중 mu transition)

9. 결론

자동운전 11+ cycles 동안 PoC W1-W12 가 80% → 95% 수준 도달. Phase 2 의 핵심 항목 12+ 미리 흡수. 남은 5% 는 외부 환경 / license 필요 → 별도 phase.

의미 있는 시연 가능 자료: - L1 / L2 / L3 의 사다리 차이 정량 (Task 20 격자 + benchmark matrix) - closed-loop path tracking (figure-eight + Driver model) - 4 차종 distinct 거동 (sedan / sports / FSK / race) - mu transition 시 grip loss (ice_corner, brake_in_turn) - Skidpad analytical 1% 일치 (kinematic Ackerman 검증)

총 작업 시간 (자동운전): 약 5-6 시간 (1차 5시간 + 2차 3시간 + 자동 progression).