Sharing Road Test for Autoware release/2024.09 branch -- Test Case 1

[shulanbushangshu]

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Contents

1. Test Case

2. Test Facility

2.1 EGO Vehicle

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 30km/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:
EGO parked in road shoulder between NPC1 and NPC2, close to NPC1 by parallel_parking(backword)

3. Test Outcome

3.1 Condition

EGO failed to park in road shoulder between NPC1 and NPC2

3.2 Test Process Analysis

The goal pose is changed automatically by default parameters and EGO is parked in front of NPC2

3.3 Test Vedio

The road test video will be shared in the future:
https://www.bilibili.com/video/BV1Yf2xYHEoZ/?vd_source=1a0865e27a7bbd9e74e940639d66bbb7
https://www.bilibili.com/video/BV1Vf2xYpE9s/?vd_source=1a0865e27a7bbd9e74e940639d66bbb7

[shulanbushangshu]

After the target point is selected, as the EGO starts to move, the target point is automatically modified to the front of NPC2, resulting in the vehicle being unable to perform backward horizontal parking between NPC1 and NPC2 by the default parameters

[liuXinGangChina]

@takayuki5168

[liuXinGangChina]

@takayuki5168 taka-san will you help us to check if ego behaves normally during the test？