Trucks WG Meeting 2026/06/04

[dexinli20]

Resources and Portals

• Wiki master page: https://github.com/autowarefoundation/autoware-projects/wiki/Truck-Working-Group
• Shared Google Drive: https://drive.google.com/drive/folders/1zD_rsSzZMCCu2feL3LW6nGCf-UXqhxqn
• Git repository: autowarefoundation/autoware.trucks: Everything specific to trucking autonomy
• Previous meeting notes: https://github.com/orgs/autowarefoundation/discussions?discussions_q=label%3Ameeting%3Atruck-wg

Announcement

Agenda

• Preparation for training ML models for Trucks, including selection of models that we use and dataset for training/evaluation
• Development plan for vehicle adaptor

Meeting Updates

• Truck reference design document

  • Software side needs ODD definitions as requirements and should be put into a separate doc
  • We will focus on heavy duty truck - refine its ODD doc

• Dataset Evaluation

  • Mitsudome will summarize the failing ones from the TuSimple data set. DONE
  • (https://github.com/orgs/autowarefoundation/discussions/6779).
  • https://torc-ai.github.io/TruckDrive/, not for commericial use, for AWF it's useful

• POV release

  • Vision Pilot will have the 1.0 release in June.
  • Mitsudome will try it out the inference and make an ad among WGs.
  • AutoSteer 2.0, AutoSpeed 2.0, AutoDrive 2.0 are available and ready to try.
  • https://github.com/autowarefoundation/autoware_vision_pilot/tree/main/VisionPilot/development_releases/1.0

• Simulation

  • Mitsudome will try CARLA 0.9.16 with UE 4, possibly try Nvidia Cosmos transfer to generate realistic scen
  • https://carla.readthedocs.io/en/latest/catalogue_vehicles/
  • Simulation of trucks got stuck the simulation (collison with a overhead sign, need to fix the 3d model)
  • https://github.com/orgs/autowarefoundation/discussions/7139
  • In the process of integration POV models into Carla with truck models
  • Migrate a highway map to CARLA 0.9.16 autoware-projects#74
  • Apply modifications to the PoV Highway map autoware-projects#85
  • https://carla.org/2025/06/11/release-0.9.16-pre/
  • Apply modifications to the PoV Highway map autoware-projects#85
  • A first demo run is working without connecting to the Autoware control algorithm yet.
  • Working towards an execution pipeline including perception, prediction, planning and control
  • Need to look into the vehicle dynamic model for trucks. Dexin to consult the internal team.
  • https://carla.readthedocs.io/en/latest/catalogue_vehicles/
  • https://github.com/nvidia/pix2pixhd
  • https://github.com/stefanos50/CARLA2Real
  • https://github.com/orgs/autowarefoundation/discussions/7115

• ODD Discussion

  • Diego-san created two ODD docs, for heavy-duty trucks and light-duty trucks each
    • Lightweight ODD definition: https://github.com/autowarefoundation/odd-usecase-scenario/blob/feat/truck-odd-definition/odd/truck/lightweight_truck_l2plus_odd.yaml
    • Heavy-duty ODD definition: https://github.com/autowarefoundation/odd-usecase-scenario/blob/feat/truck-odd-definition/odd/truck/heavyduty_truck_l2plus_odd.yaml

• Competitor investigation

  • @dexinli20 has created a summarized document for different truck companies in the market.
  • After Dexin shares the document on Google Drive we will discuss about which companies to have a deeper investigation.
    • Aurora, Gatik, and Kodiak could be good candidates

Todo's

• @dexinli20 will investigate https://docs.google.com/document/d/1nCEs0dXr1xVfUZ8azLvkGckrGUhGi8j9QD6127Ko9Jk/edit?tab=t.0 to add more details for the vehicle interface.
• @mitsudome-r to further study the failed scenes in TuSimple dataset
• @mitsudome-r to look into the simulation env for trucking WG
• @m-zain-khawaja and @dexinli20 to do further investigation on competitors https://docs.google.com/document/d/1BMgH75b-Nj8PrVlBbblvlMz_glgWs1tx1ISkWVODlpk/edit?tab=t.0
• @dexinli20 @mitsudome-r to update the Truck WG master doc