Sharing Road Test for Autoware release/2024.07 branch -- Test Case 4

[cyn-liu]

Hello everyone. I'm delighted to share with you the results of our road testing of the release/2024.07 branch of Autoware for autonomous driving.

We did road testing 3 weeks ago and found [a bug in the perception module] (autowarefoundation/autoware.universe#8530), after which was resolved with the help of AWF PR, and we tested the following test cases:

1. Test Case

2. Test Facility

2.1 EGO Vehicle

Item	Description
Vehicle	BYD EV(with DBW)
Computer	Intel NUC 7i7BNH (only run Planning and Control modules) Dell Precision 3581
LiDAR	1× Ouster (OS1-64)

2.2 Test Yard Elements

• Multiple Lanes
• Road Shoulder
• Road Boundary
• Dash line and solid line
  

2.3 Standard Scenarios

Initial Condition

• EGO speed limit 40km/h
• NPC1 and NPC2 are parked at road shoulder and intervals of 8m
• The goal pose is set between NPC1 and NPC2, close to NPC1

Action

Test case requirements: NPC1 starts after EGO stops in the goal search section.
However, this requirement conflicts with this test case. In the goal search stage, EGO does not stop, but searches for a sufficient space near the initial goal pose to park.

Therefore, during our testing, when Autoware start goal search, NPC1 start to driver away.

3. Test Outcome

3.1 Condition

EGO successfully reached the goal position without colliding with NPCs.

3.2 Test Process Analysis

In the goal search section, Autoware understands that there is an insufficient space near the goal position and intends to modify the given goal pose.
At this time, NPC1 drives away, and Autoware detects the disappearance of NPC1, assuming that there is sufficient space near the initially goal position.
Therefore, Autoware will not modify the goal point, or modifiy the goal point to near the initial goal pose.

3.3 Test Vedio

The road test video will be shared in the future

[cyn-liu]