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Bus ODD Simulation requirements
Wojciech Jaworski edited this page May 26, 2022
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From the bus odd document,
- Acceleration: 1.75 m/s^2
- Jerk: 2.5 m/s^3
- Stopping distance from 60km/h: 78m (approx.)
- Stopping distance from 50km/h: 54m (approx.)
- Stopping distance from 40km/h: 34m (approx.)
- Stopping distance from 30km/h: 19m (approx.)
RAC-300 medium bus-specific values, which ITRI has used as a baseline model for building its autonomous driving bus
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A few numbers from the website,
- Dimensions: 7000 x 2135 x 2603 mm
- Wheelbase: 3200 mm
- Vehicle Weight: 6010 kg (max. 7700 kg)
- Number of passengers (seats/stands): 19+1/10
- Top speed: 110 kph
- Motor type: AC servo air-cooled
- Motor power: Rated 75 / Max 150 (unit?)
- Motor torque: Rated 29 / Max 72 (unit?)
- Front / rear axle : 2500 / 5000
- Transmission: six-stage manual transmission
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Other numbers from ITRI
- wheel_radius: 0.302875
- wheel_width: 0.215
- wheel_base: 3.81 # between front wheel center and rear-wheel center
- wheel_tread: 1.71 # between left wheel center and right wheel center
- front_overhang: 1.16 # between front wheel center and vehicle front
- rear_overhang: 2.01 # between rear wheel center and vehicle rear
- left_overhang: 0.12 # between left wheel center and vehicle left
- right_overhang: 0.12 # between right wheel center and vehicle right
- vehicle_height: 2.8
- Input
- autoware_auto_control_msgs/AckermannControlCommand
- autoware_auto_vehicle_msgs/GearCommand
- Output
- autoware_auto_vehicle_msgs/VehicleReport (WIP: VelocityReport maybe?)
- autoware_auto_vehicle_msgs/SteeringReport
- autoware_auto_vehicle_msgs/GearReport
NOTE: Types for each input/output are subject to change, if interface between Autoware.Universe is changed
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Control Mode (WIP: command should be added maybe?)
- autoware_auto_vehicle_msgs/ControlModeReport
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Turn Indicators
- autoware_auto_vehicle_msgs/TurnIndicatorsCommand
- autoware_auto_vehicle_msgs/TurnIndicatorsReport
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Hazard Light
- autoware_auto_vehicle_msgs/HazardLightsCommand
- autoware_auto_vehicle_msgs/HazardLightsReport
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Emergency (WIP)
- tier4_vehicle_msgs/msg/VehicleEmergencyStamped
- ITRI Campus
- Hsinchu City (Not decided yet)
- The environment model has to match lanelet2 data, which is used as a source for creating the model
- When a vehicle within the simulator is moving along the path defined by the lanelet2 data and the lateral tracking error is less than (TBD)m, the vehicle should not cross the lane
- NOTE1: In case the lanelet2 data does NOT include information on the shape and color of the lane markings, lane markings in the model do NOT guarantee real-world positions
- NOTE2: In case the lanelet2 data does NOT include information on the edge of the road or sidewalk, road edges and sidewalks in the model do NOT guarantee real-world positions
- Traffic Lights
- Traffic signs (e.g. stop signs)
- Road markings (e.g. arrows, texts)
- Terrains
- Buildings and Structures
- Trees
- Street Lamps
Interface is not fixed - will be updated in case of changes in the interfaces
| publish / subscribe | category | topic | msg | frame_id | hz |
|---|---|---|---|---|---|
| publish | clock | /clock | rosgraph_msgs/Clock | 100~1000 | |
| subscribe | control | /control/command/turn_indicators_cmd | autoware_auto_vehicle_msgs/TurnIndicatorsCommand | 10 | |
| subscribe | control | /control/command/hazard_lights_cmd | autoware_auto_vehicle_msgs/HazardLightsCommand | 10 | |
| subscribe | control | /control/command/control_cmd | autoware_auto_control_msgs/AckermannControlCommand | 60 | |
| subscribe | control | /control/command/gear_cmd | autoware_auto_vehicle_msgs/GearCommand | 10 | |
| subscribe | control | /control/command/emergency_cmd | tier4_vehicle_msgs/msg/VehicleEmergencyStamped | 60 | |
| publish | camera | /sensing/camera/traffic_light/camera_info | sensor_msgs/CameraInfo | traffic_light_left_camera/camera_link | 10 |
| publish | camera | /sensing/camera/traffic_light/image_raw | sensor_msgs/Image | traffic_light_left_camera/camera_link | 10 |
| publish | gps | /sensing/gnss/pose | geometry_msgs/PoseStamped | gnss_link | 1 |
| publish | gps | /sensing/gnss/pose_with_covariance | geometry_msgs/PoseWithCovarianceStamped | gnss_link | 1 |
| publish | imu | /sensing/imu/tamagawa/imu_raw | sensor_msgs/Imu | tamagawa/imu_link | 30 |
| publish | lidar | /sensing/lidar/left/pointcloud_raw | sensor_msgs/PointCloud2 | velodyne_left_base_link | 10 |
| publish | lidar | /sensing/lidar/left/pointcloud_raw_ex | sensor_msgs/PointCloud2 | velodyne_left_base_link | 10 |
| publish | lidar | /sensing/lidar/right/pointcloud_raw | sensor_msgs/PointCloud2 | velodyne_right_base_link | 10 |
| publish | lidar | /sensing/lidar/right/pointcloud_raw_ex | sensor_msgs/PointCloud2 | velodyne_right_base_link | 10 |
| publish | lidar | /sensing/lidar/top/pointcloud_raw | sensor_msgs/PointCloud2 | sensor_kit_base_link | 10 |
| publish | lidar | /sensing/lidar/top/pointcloud_raw_ex | sensor_msgs/PointCloud2 | sensor_kit_base_link | 10 |
| publish | vehicle status | /vehicle/status/control_mode | autoware_auto_vehicle_msgs/ControlModeReport | 30 | |
| publish | vehicle status | /vehicle/status/gear_status | autoware_auto_vehicle_msgs/GearReport | 30 | |
| publish | vehicle status | /vehicle/status/steering_status | autoware_auto_vehicle_msgs/SteeringReport | 30 | |
| publish | vehicle status | /vehicle/status/turn_indicators_status | autoware_auto_vehicle_msgs/TurnIndicatorsReport | 30 | |
| publish | vehicle status | /vehicle/status/hazard_lights_status | autoware_auto_vehicle_msgs/HazardLightsReport | 30 | |
| publish | vehicle status | /vehicle/status/velocity_status | autoware_auto_vehicle_msgs/VehicleReport | base_link | 30 |
- 3 x Ouster LIDAR OS1-64
- RADAR Delphi ESR (optional)
- GNSS + IMU Trimble BX992-INS
- Camera On Semi AR0231:
- 1 x AC-AR0231-H30
- 2 x AC-AR0231-H120
- 5 x AC-AR0231-H60
- Ground Truth Localization
- Ground Truth Instance Segmentation
- Ground Truth 2D/3D Bounding Boxes (Tracking Information)