2022-10-31 ODD working group weekly meeting (117)

[Igata-ctrl]

Attendee

[Place holder]

• Yiğit Çağatay KUYU (Karsan)
• Predrag (Arm)
• Stephen Li (Autocore)
• Dvid Walmroth (Ann Arbor Autonomous Vehicle Group)
• @Igata-ctrl Hiroshi IGATA (TIER IV)

Agenda/Minutes

• As of October 30, 2022, 129 out of 138 public road bus scenarios are successful. 130/138 was the score last week.

• The following scenarios failed this time with the error :
  error type=“SyntaxError” message=“Converting RelativeWorldPosition to geometry_msgs::msg::Pose. This is valid in OpenSCENARIO standard, but is not yet supported” -> It turned out that these scenarios are using the world coordinate to set the initial position of an NPC relative to EGO across the lanes. I rewrote these scenarios using the lane coordinate and they are all running successful now.

  • UC-PB-007-0001-1-Hsinchu:1
  • UC-PB-007-0001-2-Hsinchu:1
  • UC-PB-007-0001-3-Hsinchu:1
  • UC-PB-007-0001-4-Hsinchu:1

• This week, partial cases of the following scenarios are failing. For "Expected success" cases, we may need to investigate the potential changes on Autoware universe side.

  • UC-PB-001-0002_dec-ITRI:1 : "Expected success"
  • UC-PB-001-0010-1_D40-Shalun:2 : "Simulator waited for the Autoware state to transition to WaitingForRoute, but time is up. The current Autoware state is INITIALIZING." error
  • UC-PB-008-0001_40_40-Shalun:7 : "Expected success"
  • UC-PB-009-0001-Db40-Hsinchu:3 : "Expected success"
  • UC-PB-005-0001-1-Hsinchu:2 : "Expected success"
  • UC-PB-008-0001_40_40-Shalun:7 : "Expected success"
  • UC-PB-009-0001-Db40-Hsinchu:3 : "Expected success"

• TIER IV open-sourced its 3D simulation AWSIM last week.

  • Tutorial : https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/
  • GitHub : https://github.com/tier4/AWSIM
  • Introductory video by Robotec.ai : https://drive.google.com/file/d/1gR3W2HepkZ85vfRpICpSgtmZtV8qI9qm/view
  • Official short video on YouTube [new] : https://www.youtube.com/watch?v=FH7aBWDmSNA

• Basic explanation of C-V2X technology found on the Continental web page.

• Additional information of C-V2X and DSRC comparison.

• Discussion of "Use case" column of the Use cases for Autoware Features and Functionality: 2023 Focus.

• Recap of the discussion up to last week.

  • Merge and cut in cases on freeways will require dynamic (abstract) scenarios.
  • Merging from the bus lane to the main lane on surface road may be another difficult use case.
  • Picking up/dropping off passengers at a double-parked lane is another difficult use case.
  • 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

• @mitsudome-r to look into the new failure cases by testing them locally

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. [Restored!]

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

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)