2022-10-03 ODD working group weekly meeting (113)

[Igata-ctrl]

Attendee

• Huei-Ru Tseng (ITRI)
• Lucas (Autocore.ai)
• 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 October 3, 2022, 138 out of 138 (100%!) public road bus scenarios are successful. 137/137 was the score last week.

  • 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. (We haven't experienced any of these errors in recent two weeks.)

    • 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. -> Newly created UC-PB-009-0001-Db00-Hsinchu in which following changes are made and now is not only successful but also matches the use case intention.

    • Bicycle waypoint was deleted.
    • Bicycle initial position was changed.
    • EGO destination was changed.

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

  • Huei-Ru updated ITRI's plan.
    • Localization issue being solved and expect do the vehicle test this or next week.
    • Expect to get the new government certificate for public road testing next year.
  • For longitudinal localization, the traffic sign and road painting information may be necessary.
  • In order to handle the difficult (ramp) merging, 3D simulation will be needed.
  • The cut-in cases will also require 3D simulation.
  • To address the most difficult case like "Champs Elysees" (jammed multi-lane round about), human driver intention estimation/prediction might be necessary.

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 odd numbered month

  • 3:00pm, Monday (PDT) / 2:00pm, Monday (PST)
  • 6:00pm, Monday (EDT) / 5:00pm, Monday (EST)
  • 1:00am, Tuesday (TRT) Istanbul time
  • 6:00am, Tuesday (CST) Hsinchu time
  • 7:00am, Tuesday (JST)

• [Pattern B] for even numbered month [New time from October 2022]

  • 7:00am, Monday (PDT) / 6:00am, Monday (PST)
  • 10:00am, Monday (EDT) / 9:00am, Monday (EST)
  • 5:00pm, Monday (TRT) Istanbul time
  • 10:00pm, Monday (CST) Hsinchu time
  • 11:00pm, Monday (JST)

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