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End-to-End Driving — Experiment Log (Feb 2026)
February 15, 2026
autonomous drivingend-to-endexperiment
Experiment Setup
- Platform: PolyU Campus UGV (ROS 2 Humble)
- Sensors: Velodyne VLP-16, ZED 2 stereo camera, u-blox F9P GNSS, Xsens MTi-680 IMU
- Weather: Clear, 18°C, light wind
Test Scenarios
| # | Route | Distance | Duration | Status |
|---|---|---|---|---|
| 1 | Library → Sports Centre | 420 m | 3 min 12s | ✅ Pass |
| 2 | Gate A → Innovation Tower | 680 m | 5 min 48s | ✅ Pass |
| 3 | Block Y → Canteen (narrow) | 310 m | 2 min 55s | ⚠️ Minor |
Observations
- Scenario 3 had a brief hesitation at the narrow corridor between Y-block and the canteen due to dynamic pedestrians. The planner recovered within 1.2s.
- LiDAR-camera fusion latency averaged 42ms, acceptable for 10 Hz control loop.
- GNSS-RTK fix rate in open areas: 98.3%; in building shadow: dropped to 71.2% → factor graph fusion compensated well.
TODO
- Retrain perception model with more narrow-corridor data
- Test in rainy conditions
- Benchmark against baseline (no end-to-end)