API WG Meeting (11/15/2023)

[yuasabe]

Date: 2023-11-15

Time: 14:00 (UTC)

Administrative

• Previous meeting minutes
• API WG project board
• API WG Roadmap

Participants:

• David Cole (DanLaw)
• Daniel Shih (Tier4/NTU)
• Ryohsuke Mitsudome (TSC Chair)
• Bonolo Mathibela (AUTOWARE)
• Abinesh Lingeswaran (Danlaw)
• David Walmroth
• Huei-Ru Tseng (ITRI)
• Isamu-takagi
• Jaiden
• Pedro
• Rohit
• Rojer
• Sudharsan Srikanthan
• Sujith (Interpl.ai)
• Tanishq
• Venkat
• Yu Asabe
• Christian John (SPC/Tier 4)
• Weilin Yao (Whaledynamic)
• Ram (Interpl.ai)
• Mark (Interpl.ai)
• Armagan (Leodrive)
• Lingzi (Whaledynamic)
• Heewon Kim (AWF korea)
• Shreekant Marwadi (Leidos)
• Hidenaga Ushijima
• Yu Zhigang
• CY
• Ziri
• Will Martin
• Chang
• Joao Amaral

Agenda

• V2X Integration Demo (Danlaw)
• Virtual Traffic Light Interface (Isamu Takagi, TIER IV)

Notes

V2X Integration Demo (Danlaw)

• 
  • Emergency vehicle starts broadcasting its position and lane closure notification -> The robot changes lanes and avoids the emergency vehicle.
• 
• 
  • When an emergency vehicle exists and is broadcasting information
  • A dummy obstacle is created in the position
• David) The goal of this API WG is to define the APIs, and the implementation of the individual APIs is up to other WGs as well.
• Mitsudome) The sample APIs defined in the last meeting seemed good for the initial starting point. We can iterate and improve upon it from there. In the demo, were you replacing the perception results, or were you using another type of message?
• Rohit) A dummy object was added to the perception list of objects.
• Mitsudome) If we consider V2X as an extension of the perception capabilities, we can deal with the V2X objects in the perception stack.
• Rohit) The location of the object might be off the lane
• Mitsudome) Autoware perception stack is capable of handling obstacles that are not in the center of the lane.

Virtual Traffic Light Interface (Isamu Takagi, TIER IV)

• Refer: Change vitrual traffic light interface (V2X/V2I) autoware.universe#2703
• David) Is there direct V2X communication happening between the infrastructure and vehicle?
• Takagi) Yes. Vehicle sends commands to infrastructure, and infrastructure sends status reply to vehicle.
• Architecture
  • 
• Asabe) The focus is on the management of shared resources, may that be an intersection, controlled restricted area, an elevator, or an electronic door. So the idea presented here can be applied to various use-cases, and can be expanded to more complicated maneuver coordination attempts.
• Daniel) Any information about time that is included in the message? Especially the expected time of passing of the vehicles might be important information to help the infrastructure to coordinate multiple vehicles.
• David Walmroth) Is it possible for the server to recommend an alternative route? Especially when the server says "no", can it recommend a different solution?
  • Takagi) Although this is not the scope in the first use case, it is possible to add it in later.
  • Daniel) This is done in research as well, the algorithms for the central server.
  • David) The roadside environment could know more about the environment.

Next Steps

Overall, we want to discuss the following over the next few meetings.

• Consider various use-cases and identify what kind of communication will take place between Autoware and the V2X stack.
• Requirements on the handshake between the V2X software and autonomous driving stack (creating sequence diagrams)
• Requirements for the interfaces/APIs
• Interface between V2X software and AD stack (not only APIs, any means of communication)
• HMI (both in-cabin and external) of Autoware and V2X applications