2022-09-27 ODD working group weekly meeting (112)

[Igata-ctrl]

Attendee

• Evan Zhang (RoboSense LiDAR)
• Baofu Wu (Wayne State University)
• William He (Wayne State University)
• Hyeongseok Jeon (MORAI Inc.)
• Predrag (Arm)
• Dvid Walmroth (Ann Arbor Autonomous Vehicle Group)
• @mitsudome-r Ryohsuke Mitsudome (TIER IV)
• @Igata-ctrl Hiroshi IGATA (TIER IV)

Agenda/Minutes

• Residual failure cases are as follows.

  • As of September 26, 2022, 137 out of 137 (100%!) public road bus scenarios are successful. 127/137 was the score two weeks back.

  • Following six scenarios (or maps) were modified and tested this week.

    • UC-LD-001-0010-2-Gebze (Vel=8.4, 5.58, 2.76)
      • Misc0 was replaced by stationary NPC1->Failed->additional parameter tuning->Succeeded
    • UC-PB-001-0009-4-Hsinchu (Ve=30)
      • The point where signal is changed from green to yellow was moved toward the intersection->Succeeded
    • UC-PB-001-0009-5-Hsinchu
      • The point where signal is changed from red to green was moved toward the =intersection->Succeeded
    • UC-PB-008-0001_40_20-Shalun (VL=14.0, VM=8.4)
      • Modified by using the custom command “WalkStraightAction” for Ped0->Succeeded
    • UC-PB-009-0001-Db20/40-Hsinchu (Vb=4.2, 2.8, 1.4)
      • Mitsudome-san kindly updated the LL2 map data->Failed->scenario bug fixed->failed->debugged (EGO destination changed) and tested again -> Succeeded

  • The following scenarios occasionally fails with a simulation error but we might be able to deem them successful cases.

    • UC-LD-001-0005-Gebze (Vel=8.4) [Failed in 77721e94 with "Simulator waited for the Autoware state to transition to WaitingForEngage, but time is up. The current Autoware state is PLANNING."]
    • UC-PB-001-0009-3-Ve50-Hsinchu [Failed in b24d1918 with "Simulator waited for the Autoware state to transition to WaitingForRoute, but time is up. The current Autoware state is INITIALIZING."]
    • UC-PB-001-0010-11_D40-Shalun (Ve=14) [Failed in 77721e94 with "Simulator waited for the Autoware state to transition to WaitingForEngage, but time is up. The current Autoware state is PLANNING."]
    • UC-PB-005-0001-3-Hsinchu [Failed in bb039ee1 with "Simulator waited for the Autoware state to transition to WaitingForEngage, but time is up. The current Autoware state is PLANNING."]
    • UC-PB-008-0001_20_40-Shalun (Vl=8.4, Vm=14) [Failed in b24d1918 "Simulator waited for the Autoware state to transition to WaitingForEngage, but time is up. The current Autoware state is PLANNING."]

  • UC-PB-009-0001-Db20/40-Hsinchu has become successful, but the intention of "If there is risk for right turn accident, EGO stops and lets the motorcycle or the bicycle go first" is not reflected. Need to investigate both Autoware and the scenario.

  • Update of "Use case" column of the Use cases for Autoware Features and Functionality: 2023 Focus. The use case column has been updated.

  • William He (WSU) kindly explained the outline of the C-V2X technology using the paper he's working on. The paper will shared once it's accepted.

Action Items

@Igata-ctrl to reach out to David Cole of DANLAW to provide the over view of their V2X technology.

Documents

• The bus ODD use case list which was assigned to the members is here.

• The bus ODD use case list is also uploaded here to make it visible to anyone on the net.

• Please upload the scenarios you created to the Gitlab repository by issuing the merge requests.

• The ODD working group shared document folder is here.

• Gitlab project for ODD WG scenarios.

Tools

• [CI/CD Pipeline User Guide] is in the Google Drive.

• Scenario Editor User Guide (in CI/CD pipeline) has been stored in ODD WG Google Drive. )[updated]

• [Scenario Simulator v2 User Guide] is in the Github repository. While all the information including the installation of the scenario_simulator_v2 and Autoware universe is here. One caveat is that "run with docker" is NOT officially supported at the moment.

• [Updated] The working group members who are interested in creating and testing scenarios on the CI/CD pipeline are advised to create a free Tier IV account here. Once you have created an account, please let @Igata-ctrl know the (long) User ID which appears on your login page. After @Igata-ctrl register you to the AWF group in the CI/CD pipeline, You can go to AWF Autoware Evaluator page in the CI/CD pipeline.
  If you already have a TIER IV account, your 4-digit User ID continues to work, so you do not need to register to TIER IV account again.

Administrative

• Please check the ODD WG wiki page.

• Recurring weekly meetings have been scheduled. Please check Autoware Foundation events calendar or add this Calendar ID to your (Google) calendar and/or add your contact to ODD WG invitation group to receive invitations for future meetings.

• ODD WG meetings are held in the following two patterns flipping every month.

• [Pattern A] for the odd-numbered months

  • 3:00pm, every Monday (PDT) / 2:00pm, every Monday (PST)
  • 6:00pm, every Monday (EDT) / 5:00pm, every Monday (EST)
  • 1:00am, every Tuesday (CET)
  • 6:00am, every Tuesday (TST)
  • 7:00am, every Tuesday (JST)

• [Pattern B] for the even-numbered months

  • 8:00pm, every Monday (PDT) / 7:00pm, every Monday (PST)
  • 11:00pm, every Monday (EDT) / 10:00pm, every Monday (EST)
  • 6:00pm, every Monday (CET)
  • 11:00pm, every Monday (TST)
  • 0:00am, every Tuesday (JST)

• Discussions and Q&As in AWF Discord ODD WG channel are also encouraged.