Test Case Road Test Failed

[cyn-liu]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Test Case Details:

Expected behavior

The distance between the front of the ego and the set target after reaching the modified goal is less than D2[-2,2].

Actual behavior

The distance between the front of the ego and the set target after reaching the modified goal is greater than D2[-2,2], which is approximately 4 meters.
test video:

202309-testcase2-10km.mov

Steps to reproduce

please refer to test case details.

Versions

• OS: Ubuntu20.04 x86-amd64
• ROS2: Humble
• Autoware: release/2023.09

Possible causes

1. Is the range setting of D2 parameter reasonable in this test case?
2. How to adjust Autoware parameters to make the modified goal meet the test requirements?

Additional context

No response

[liuXinGangChina]

good afternoon，mist-san can you assign an engineer to take a look at this one @mitsudome-r

[mehmetdogru]

@cyn-liu

Could you please share the scenario and the map file?

[cyn-liu]

@mehmetdogru

this is our test scenario:

map files: download link

[mehmetdogru]

Thanks @cyn-liu

Could you please share as well the scenario file created with scenario editor if possible so that issue can be reproducible using ssv2 with your parameters specified in the scenario?

[cyn-liu]

Thanks @cyn-liu

Could you please share as well the scenario file created with scenario editor if possible so that issue can be reproducible using ssv2 with your parameters specified in the scenario?

Thanks for your replay, but we don't have scenario file.
we use real vehicles for testing on the road.

[mitsudome-r]

I have checked the original scenario definition.
I think the expectation is that you manually set the goal near the target vehicle within [-2 m , 2 m] in distance, which would be too close for Autoware vehicle to park without collision. Then, the Autoware should automatically modify the given goal by appropriately finding an open space in road shoulder and park to the modified goal.

[cyn-liu]

I have checked the original scenario definition. I think the expectation is that you manually set the goal near the target vehicle within [-2 m , 2 m] in distance, which would be too close for Autoware vehicle to park without collision. Then, the Autoware should automatically modify the given goal by appropriately finding an open space in road shoulder and park to the modified goal.

Thanks for your clarification, If the scenario definition is as you explained, then our road test is successful.

[meliketanrikulu]

I have checked the original scenario definition. I think the expectation is that you manually set the goal near the target vehicle within [-2 m , 2 m] in distance, which would be too close for Autoware vehicle to park without collision. Then, the Autoware should automatically modify the given goal by appropriately finding an open space in road shoulder and park to the modified goal.

Thanks for your clarification, If the scenario definition is as you explained, then our road test is successful.

Hello @cyn-liu. In this case, can we close this task?

[idorobotics]

I have checked the original scenario definition. I think the expectation is that you manually set the goal near the target vehicle within [-2 m , 2 m] in distance, which would be too close for Autoware vehicle to park without collision. Then, the Autoware should automatically modify the given goal by appropriately finding an open space in road shoulder and park to the modified goal.

Thanks for your clarification, If the scenario definition is as you explained, then our road test is successful.