Bus ODD specific features

[BonoloAWF]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

As part of the Bus ODD, the vehicle is required to approach a bus stop, stop within the designated area whilst passengers embark/disembark, and then continue along the route.

This functionality needs to be added to Autoware.Universe.

Purpose

To discuss the scope of Bus ODD specific features for both of the upcoming demos

Possible approaches

Possible approaches are summarised in this discussion: https://github.com/orgs/autowarefoundation/discussions/2651
and the comments below.

Definition of done

The bus can handle bus stops, passengers entering/exiting the bus and there is a suitable user interface.

[BonoloAWF]

cc: @mitsudome-r @MertClk @hueirutseng @xmfcx @HaoruXue
Meeting minutes from AWF/ITRI/LeoDrive meeting held on 10 August 2022:

1. Timelines for bus ODD

• ITRI bus will be tested on campus in September, post vehicle integration
• LeoDrive internal project final tests and demo are in September. The LeoDrive bus will be available for the AWF demo until 31 December 2022
• AWF - the bus ODD demos will start in early December

2. Handling bus stops

• Route scheduling and bus stops will be handled on the server side - each bus stop will have a unique pose associated with it, each new goal is set via this external service (no modifications to the planner required)
• Ryohsuke will investigate whether the existing TierIV fleet management tool can be used for the demo (see: Autonomy Software WG Meeting 2022/08/09 autoware#2768)
• If the TierIV tool is not available for use, a similar tool will be implemented by AWF
• The bus will stop at every bus stop along the route

3. Handling passengers embarking/disembarking

• The test driver will manually open and close the bus door in the demo
• The concept of automatic door opening/closing can be shown separately at the LeoDrive demo (provided Mert is able to arrange for this feature to be made available via updates to the vehicle interface).

4. Bus user interfaces

• LeoDrive bus has several options for displays including the driver UI which will be used in the bus ODD for mission control (autonomous mode, setting goal points), safety and situational awareness, and diagnostics.
• ITRI bus has several displays including a driver UI which will be used in the bus ODD for safety and situational awareness, and diagnostics. There are other passenger displays showing the bus stops along a route, speed, traffic lights etc.

[MertClk]

ISUZU Bus Displays

Below, I'm sharing displays and panel existing on our bus. We can use them to inform environment and passengers.

1. Front Destination Display
   

2. Right Side Destination Display
   

3. Interior Destination Display
   

4. Driver Control Panel
   

[hueirutseng]

ITRI Bus Display

1. Front display will show "Autonomous Bus"

2. Interior display for passengers

3. Interior display for test driver

Before ROS upgrade, we had a demo video showing the idea that ITRI autonomous bus operated on public roads.
ITRI Autonomous Bus Demo Video

[BonoloAWF]

All information has been provided. Closing.