Sharing Road Test for Autoware -- Test Case 5

[cyn-liu]

Hello everyone. I'm delighted to share with you the results of our road testing of the release/2023.09 branch of Autoware for autonomous driving.

1. Test Case

2. Test Facility

2.1 Ego Vehicle

Item	Description
Vehicle	BYD EV (with DBW)
Computer	ADLINK MVP-6100 IPC Dell Precision 3561
LiDAR	1× Ouster (OS1-64)

2.2 Test Yard Elements

• Multiple Lanes
• Road Shoulder
• Road Boundary
• Pedestrians Crosswalk
• Dash line and solid line
• Median strip
  

2.3 Standard Scenarios

Ve: Ego Speed.
Ego Vehicle is driving on a single lane road at Ve for the goal point.

2.3.1 Ve = 10km/h

2.3.2 Ve = 20km/h

2.3.3 Ve = 30km/h

2.3.4 Ve = 40km/h

3. Test Outcome

PS: The road test video will be shared in the future

Ego Vehicle successfully reach the modified goal at the speed of Ve.

• Ego pulls over within 1m both laterally and longitudinally from the final goal calculated by Autoware
• Final angle to the lane is less than 45deg.