Technical Steering Committee (TSC) Meeting #44 (2022/07/20) Minutes

[mitsudome-r]

2022/07/20 22:00 UTC

Attendees

• Ryohsuke Mitsudome (TSC Chair)
• Christian John (SPC)
• M. Fatih Cırıt (AWF)
• Bonolo Mathibela (AWF)
• Xinyu Wang (AWF)
• Hiroshi Igata (ODD WG)
• David Walmroth (OAD WG)
• Armağan Arslan (OAD WG)
• Wojciech Jaworski (Simulation WG)
• Johannes Betz (Racing WG)
• Kerem Par (Adastec)
• Stephen Li （Autocore）
• David Van Guyen (AutonomouStuff)
• Larry Dimitrievski (Danlaw)
• Akihiko Tsukuda (eSOL)
• Michael Li (ITRI)
• Mert Colak (Leodrive)
• Adam Dabrowski (Robotec.ai)
• Naoyori TANZAWA (Tier IV)

Working group report: Autonomy Software (10 min)

• Currently working on vehicle integration
  • LeoDrive and ITRI working on bus integration
  • Has started to do weekly updates for their progress in the WG
  • Brief updates will be given later in this call
• WG members are currently working on bugs and other issues raised from the bus integration
  • We have started to organize the tasks as Github projects Bus ODD Project (view)
• Other tools have become available as well:
  • Calibration Tools
  • Message Tracker tool

Working group report: Operational Design Domain (10 min)

• As of Jul 20, 2022, 99 out of 107 scenarios are successful. (59/108 lastmonth)

• ODD WG members have been adding missing scenarios, discussing and ironing out the issues with scenarios including the points below.

  • Delete unnecessary instructions for EGO vehicle
  • Widen the lane width which was too narrow for the vehicle
  • Properly set either target or initial speed for both EGO and NPCs
  • Safe distance criteria to the preceding NPC has been modified (the value is still under discussion)
  • System errors addressed
    • “Bag is too large” error : Stored topic list was optimized (reduced)
    • random “Invalid ID” error : Corrected and currently in regression test
  • Moved the destination points to the center of the lane
  • UC-PB-001-0010 and UC-PB-006-0001 were added
  • Apply “BLIND” setting to NPCs where necessary
  • Set back EGO initial position so that Autoware can understand that EGO is entering the intersection

• Most of the failure cases seem to be associated with the perception (of the pedestrian) of Autoware, i.e. EGO looks like waiting for the pedestrian who already finished crossing the crosswalk. We’re looking into it with ASWG. On the scenario side, we would like to consider modifying the map and the ped destination.

• We’ll be adding scenarios from Isuzu-LeoDrive use cases including speed bump handling.

Discussion:

• Wojciech: Simulation WG also has some ideas about additional tests and scenarios to be added. Once they prepare initial proposal, they will share it with ODD WG.
• Armagan: Is anyone from ODD WG joining ASAM OpenODD project?
  • https://www.asam.net/project-detail/asam-openodd-v100/#backToFilters
  • Morai registered to the project
  • TIER IV will also discuss internally if they should join the project

Working group report: Simulation (10 min)

• AWSIM (Simulator by TierIV) binary with instruction shared with community on discord. Successfully tested by multiple members.
• Simulation compatibility tests (Creating Test Codes to Check Simulator Compatibility with Autoware autoware_universe#1105):
  • First iteration of tests developed - related to control commands and reports
  • Code developed with MORAI SIM
  • Tested with AWSIM
  • First PR merged
  • Next issues created on github for more tests (fixes to control commands, sensor data interface verification, publishing frequency evaluation)
• Metric calculation nodes (Metric calculation node development autoware-projects#11)
  • Localization and kinematic evaluators finalized (developed using AWSIM)
  • PR merged (feat(metrics_calculation): add kinematic and localization evaluators with metrics autoware_universe#928)
  • Person responsible for the task will now continue working on the segmentation evaluator (almost finalized), mostly to solve the issue from ASWG (Ground segmentation fails for points behind the low objects autoware_universe#669). The new evaluator will be developed using MORAI SIM, because of missing GT segmentation in AWSIM
• Creation of ITRI campus environment finalized by MORAI
  • Successfully reused in AWSIM
• New tasks created for final integration of environment for BusODD (for both AWSIM and MORAI SIM)
  • MORAI successfully used ITRI Bus vehicle model in the ITRI environment (Integration of ITRI campus with ITRI bus and Autoware - MORAI SIM autoware-projects#41)
  • TierIV/Robotec is working on adjusting the ITRI environment to work with Autoware.universe. For now looks like localization is slightly shifted off LL2
• After the full integration of at least one simulator is delivered, we will strongly focus on adding documentation/instructions to the autoware.documentation repo

Discussions:

• Armagan:
  • LeoDrive can also provide a model for ISUZU bus.
  • Is Morai sim available for AWF users?
    • Currently Morai has shared binary which requires credentials to use for initial investigation, but we don’t know if we can make it available
• Mitsudome: Any ETA for ITRI environment to be ready in AWSIM?
  • It depends on LL2 issue that needs to be solved, but it should be available within 1-2 weeks.
  • If ODD WG has the latest version of ITRI campus map, Igata-san can share it with Simulation WG.
• Armagan: Simulation WG shares meeting recordings. Are other WGs sharing the recordings as well?
  • ASWG currently doesn’t share the recording, but if there are demands, then I don’t think we have issues sharing them.
  • Zoom meeting recordings have limited storage
    • We can upload to youtube channel as a workaround
  • David: Open AD Kit is recording the meeting, but it was only shared among WG leads. We believe there is some assumption among the participants that the discussion in the call is semi-closed within the member, and we might have less disclosure if we start uploading the recordings to the youtube channel.
  • Decision: We will leave the WG lead to have a decision to make the recording publicly available, but any member can individually contact the WG leads to get access for the past recordings as needed.

Working group report: Racing (10 min)

• Successful Wrap-Up of Racing Working Group Achievements
  • Indy Autonomous Challenges
  • IEEE ICRA F1TENTH Race
  • IEEE ICRA 2022 Racing Workshop
  • EV Autonomous Grand Prix Event @Purdue
• Autoware running on F1TENTH platform completed
• Extending/implementing new Autoware based modules on F1TENTH platform and go-cart platform
  • Discussed plans for F1TENTH Planning modules ported onto ROS2
  • Contributing perception, planning, control modules to Autoware.Universe
• Evaluating the Autoware + F1TENTH Course from Posznan University
• Discussion about Vision based RL
  • Selection of correct Simulation environment (OpenAI Gym Interface necessary)

Discussions:

• Larry: Danlaw would like to have a hardware like F1Tenth to get familiar with AD stack. Are there any hardware platforms that have been verified with Autoware?
  • Johannes: For F1Tenth, all required hardware is listed in the F1Tenth website https://f1tenth.readthedocs.io/en/stable/getting_started/build_car/index.html
  • However, Jetson nx is not sold directly by Nvidia and you have to find other vendor and could be overpriced
  • David: who would be the target?
    • Students or graduates
  • Armagan: This can also be a candidate
    • https://global.agilex.ai/products/autokit
• David: Any information about up-coming Indy Autonomous Challenge events? How deeply involved is the Autoware Foundation?
  • Larry: We are thinking of approaching to IAC, but it would be up to them if they embrace Autoware
  • CJ: We are still sponsoring IAC, and we have planned a meeting with IAC team. No concrete plans yet.
  • Haoru: Some teams are planning to update the software from Autoware.Auto to Autoware Core/Universe

Working group report: Open AD Kit (10 min)

• Created draft and discussion for HW/ECU Test Matrix
  • ADLink, Autocore, NVIDIA. Universe, container, build, etc.
  • https://github.com/orgs/autowarefoundation/discussions/2738
• GUI and HMI enhancement considerations. In line with Architecture and SW WG statements, OAD Kit WG members showed interest in enhanced data representation and GUI experiences. Foxglove was identified as an interesting candidate, and CJ with Armagan are to follow up with Foxglove corporate.
  • https://foxglove.dev/
• MIH demo. Requirements and plans becoming clearer and progressing.
  • MIH demo has been moved back but Arm DevSummit demo is gaining attention as it will be sooner.
  • Key pivot point will be results of analysis and testing by Kasper upon his receipt of two-containers Autoware construct being built by Fatih. Handover should be complete by the next OAD Kit WG meeting.
  • Tanzawa-san and TierIV are testing eSync container update times (OTA).
• Data Privacy and GDPR.
  • Subject was raised as to how test and training videos were to be handled regarding anonymity (faces, license plates, etc.).
  • To be followed up by CJ and Armagan with input of SPC and/or board as next step considerations.
• Successful Autoware Silicon Valley Autoware Meetup at Arm HQ in California, with focus on OAD Kit.. Open AD Kit Update - Panel Discussion , Wed, Jul 13, 2022, 5:30 PM | Meetup
  • Robert Day (ARM) Moderator
  • Jeremy Dahan (AWS) Panelist
  • David Walmroth (Ann Arbor Autonomous Vehicle Group) Panelist
  • Girish Shirsat (ARM) Panelist
  • Srikant Acharya (Excelfore) Panelist
  • Daisuke Tanaka (Tier IV) Panelist
  • Larry Dimitrievski (The Autoware Foundation) Panelist
  • Event was well received and will hopefully attract interest in Autoware from this skilled geographic area.
  • Next step considerations include regular events, establishing a consistent location, access to learning and testing tech for community members, and intelligent driving or other competitions.

Discussions:

• Armagan:
  • Armagan isn’t sure where to put the hardware list.
    • Mitsudome: We can first put in this page: https://autowarefoundation.github.io/open-ad-kit-docs/latest/system-configuration/, and combine with other documentation later
  • LeoDrive had a discussion with the Foxglove team. Armagan asked them to collaborate with AWF (like eSync). There is a Foxglove slack channel to further discuss developing UIs together. They are planning to show a demo in Open AD Kit WG.
  • Regarding GDPR, LeoDrive is testing an open source tools https://github.com/understand-ai/anonymizer. The results will be shared in the working group.

ITRI Bus ODD Project Update (ITRI)

• ITRI ADV upgrade schedule_status update_20220721.pdf

LeoDrive Bus ODD Project Update (LeoDrive)

• Leo Drive Autoware Integration Update for TSC 20.07.2022.pdf

TIER IV Simulator Release (TIER IV)

Update of TIER IV simulator.pdf
Discussion:

• Mitsudome: we can have a blog post in the AWF website to announce the release of Simulator along with the updates about MORAI and other simulators
• Wojciech: Sure, but we should wait for the official documentation to be ready. Also, if TIER IV can announce from their website, that could be beneficial as well.
• Tanzawa: We can continue the discussion offline to have on the announcement.