A vehicle that refuses to slow down at a junction

[sofianeIntern]

Hello,

I’ve been using Autoware for the past month alongside Carla for research into autonomous vehicles. I’ve tried to set up a scenario in which the autonomous vehicle attempts to cross an intersection whilst a lorry and a car are passing through. The idea was that the lorry would block the autonomous car’s view to see how it would react, but I’ve run into a problem. In the setup described, the autonomous car has time to see the other car approaching and therefore slow down, but instead it continues to accelerate until the other car can no longer be avoided, and only then does it attempt to stop.

I don’t understand where this problem is coming from. I’ve tried digging through the Autoware files to see if there were any values to change, but my changes have had no effect on the scenario.

I am using Carla version 0.9.16 on a remote PC and running Autoware via Docker. For this setup, I am using the TOWN10HD map.I should also mention that I was experiencing performance issues, so I removed the cameras from the autonomous vehicle, keeping only the front-facing camera. Perhaps this has had an impact.

Thank you in advance for your help.

[maxime-clem]

From your screenshots, it is not clear if there are predicted paths for the incoming vehicle. Without predicted paths, future collisions cannot be predicted.
Please make sure the predicted paths of the objects are correctly published.

Otherwise, collisions in intersections may be ignored due to traffic lights or right of way, see https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/

[sofianeIntern]

Yes there are predicted paths or the incoming vehicle.

Here is a video to illustrate my issue: Illustration video.webm

In my opinion, the self-driving car should brake pre-emptively when it sees another vehicle approaching. But instead, I get the impression that it ignores it and that the emergency braking system takes over.

[maxime-clem]

Thank you for confirming the predicted paths.

If you want a pre-emptive brake to avoid such collision, I think you need to use the run_out module (https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_run_out_module/). By default only pedestrians/bicycles are considered, but you can add the CAR label in the parameters for your use case.