The Autoware Foundation
2024-05-27 ODD working group weekly meeting (190) #4779
Igata-ctrl
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Agenda/Minutes
On April 21, 2024, 428/559 regular scenarios succeeded. 131 scenarios failed.
On April 28, 2024, 428/559 regular scenarios succeeded. 131 scenarios failed.
On May 5, 2024, 424/559 regular scenarios succeeded.
On May 12, 2024, No simulation result was obtained due to a build failure.
On May 13, 2024, 429/559 regular scenarios succeeded.
On May 19, 2024, No simulation result was obtained due to SimulationError:AutowareError.
On May 26, 2024, No simulation result was obtained due to SimulationError:AutowareError though the build was successful.
Found an interesting urban mixed traffic example "iino" in Japan, which uses Autoware. Reaching out to this company if they can attend AWF ODD WG to share their experience.
Discussion over Urban-Area-Scenarios by Berkay (Leo Drive).
Continued discussion of the Low Speed Vehicle ODD over the video of National Taiwan University campus.
[recap of the discussions until last week]
Brief discussion on the proposed agenda regarding the Add docs for guiding the developers on finding, diagnosing, and fixing scenarios in Autoware
In the AWF TSC on May 14, Mohammad Musa (Safety Assurance WG/Deepen.ai) recommended to consider switching to OpenDRIVE as it is the default map format with AD simulation companies including Applied Intuition, Foretellix and Cognata along with OpenSCENARIO scenario format. May need to discuss it internally first, revisiting the discussion when Autoware chose Lanelet2.
On April 30, @Igata-ctrl and @mitsudome-r joined the meeting with Safety Pool (Deepen.ai + WMG) and discussed that the following issues need to be addressed.
@Igata-ctrl prototyped three dense urban scenarios based on the use cases. May need to clarify a few small issues with TIER IV CI/CD team.
Daniel Shih, the lead of Reference Design WG joined to discuss the low speed (controlled area) ODD. Once it's finalized, it will be merged to the ODD definitions spread sheet.
@Igata-ctrl shared a tip how to set arbitrary trajectory for NPCs with @Berkay54 on Discord.
@Igata-ctrl found an example scenario which uses the FollowTrajectoryAction. It seems there are some caveats around the initial settings of NPCs.
@Igata-ctrl created a couple of example breadboard use cases for the dense urban ODD.
@Igata-ctrl is continuing communication with Safety Pool. Currently, Map conversion and compatibility issues are discussed. A meeting has been set on April 30 to discuss how many scenarios will be available for Autoware and how.
As for the "too many points" issue with the converted Lanelet2 map, I learned from TIER IV FMS & map team that this tool maybe helpful to reduce the number of the unnecessary points.
Due to a recent bug fix of the scenario simulator v2 regarding the maximum speed setting, it turned out some of the scenarios need to be modified. Berkay who ported the basic TIER IV scenarios to AWF is kindly working on the fix now.
As for the dense urban traffic ODD which Autoware Labs is going to work on, here's the link to the video of typical dense urban traffic which Fatih showed in the TSC. This would be a good start point for the new use case/scenarios.
@Igata-ctrl has created a step-by-step memo "Map conversion using CommonRoad Scenario Designer (OpenDRIVE-_Lanelet2)-110324-055327" with a help from Ata (Leo Drive) who is familiar with the CommonRoad Scenario Designer also the author of the documentation. A example of converted Lanelet2 map is uploaded to the folder. The sample map has been uploaded to to the Evaluator (CI/CD pipeline) and an example scenario was created on it. Known map issues which require modification are as follows.
Regarding the scenario compatibility, Safety Pool scenarios are in .xosc file and Autoware/Evaluator (CI/CD pipeline) uses .yaml file for more flexible handling of the parameters. Though stand alone Scenario Simulator v2 can accept .xosc file, Evaluator cannot. We may perhaps need another converter or some modification of Evaluator side. @Igata-ctrl is inquiring Safety Pool approximately how many scenarios will be available for Autoware in order to identify what level of automation is desired here.
[Stephen] Is there any way to obtain the ODD information from the suspended EV project of Apple's (Titan)?
As a preparation for the Autoware Lab discussion, @Igata-ctrl would like to add "(RoboTaxi in) dense traffic area" to the ODD definitions table. Would like to further edit this table during the meeting.
Safety Pool presented the outline of Safety Pool.
Action Item
Documents
The bus ODD use case list which was assigned to the members is here.
The bus ODD use case list has been also uploaded here to make it visible to anyone on the net.
The ODD working group shared document folder is here. [Restored!]
Discussions and Q&As in AWF Discord ODD WG channel are also encouraged.
Tools
[Autoware Evaluator (CI/CD pipeline)]
[Scenario Simulator V2 (Scenario testing framework)]
The GUI Scenario editor
[TIER IV account]
Administrative
The two meetings on December 25th (Christmas day) and January 1st (New Year day) have been cancelled.
Please check the ODD WG wiki page.
Recurring weekly meetings have been scheduled. Please check Autoware Foundation events calendar and add this calendar to your own Google calendar by clicking the right bottom button and/or add your contact to ODD WG invitation group to receive invitations for future meetings.
ODD WG meetings are held weekly in the following single time slot.
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