Sharing Road Test for Autoware release/2024.07 branch -- Test Case 2

[cyn-liu]

Hello everyone. I'm delighted to share with you the results of our road testing of the release/2024.07 branch of Autoware for autonomous driving.

We did road testing 3 weeks ago and found a bug in the perception module, after which was resolved with the help of AWF (PR), and we tested the following test cases:

1. Test Case

2. Test Facility

2.1 EGO Vehicle

Item	Description
Vehicle	BYD EV(with DBW)
Computer	Intel NUC 7i7BNH (only run Planning and Control modules) Dell Precision 3581
LiDAR	1× Ouster (OS1-64)

2.2 Test Yard Elements

• Multiple Lanes
• Road Shoulder
• Road Boundary
• Dash line and solid line
  

2.3 Standard Scenarios

• EGO speed limit 10km/h
• NPC1 and NPC2 are parked at road shoulder and intervals of 8m
  
• The goal pose is chosen between NPC1 and NPC2, close to NPC1

Scenario 1: Initial state, EGO is about 30m from NPC1

When NPC1 is detected, the goal position is changes to behind NPC1, within 20m of the initial goal position.

clip1_test1.mp4

After send the engage signal, the vehicle was able to reach the new goal position.

clip2_test1.mp4

Scenario 2: Initial state, EGO > 100m from NPC1

When NPC1 is detected, the goal position changes to a position further in front of NPC1, and when NPC2 is detected, the goal position changes to the front of NPC2, within 30m of the initial goal position.

clip1_test3.mp4

After send the engage signal, the vehicle was able to reach the new goal position.

clip2_test3.mp4

The EGO can't park between two NPCs, because of it is too close for Autoware vehicle to park without collision. Then, the Autoware will automatically modify the given goal by appropriately finding an open space in road shoulder and park to the modified goal.
@mitsudome-r I'm not sure if that's the purpose of this test case, and if it is, why is the spacing between the two NPCs set at 8 metres, which could accommodate a car. It's just that it's very difficult for the Autoware algorithm to park a car between the two NPCs.

[cyn-liu]

The intention of this test case is that EGO can automatically calculate a suitable goal position for parking within [-30m, 40m] of the set goal pose, as there is not sufficient space for parking near the initially set goal position.

We conducted the test again:

2.3 Standard Scenarios

Initial Condition

EGO speed limit 40km/h
NPC1 and NPC2 are parked at road shoulder and intervals of 8m
The goal pose is set between NPC1 and NPC2, close to NPC1

Action

N/A

3. Test Outcome

3.1 Condition

EGO successfully reached the modified goal position without colliding with NPCs.
The modified goal point is less than 30 meter away from the initially set goal point.

3.2 Test Process Analysis

The initial goal pose between NPC1 and NPC2, which would be insufficient for EGO to park without collision. When goal search section, the Autoware automatically modify the given goal by appropriately finding an open space in road shoulder and park to the modified goal.

3.3 Test Vedio

The road test video will be shared in the future

[cyn-liu]