Sharing Road Test for Autoware -- Test Case 8

[cyn-liu]

Hello everyone. I'm delighted to share with you the results of our road testing of the release/2023.09 branch of Autoware for autonomous driving.

1. Test Case

2. Test Facility

2.1 Ego Vehicle

Item	Description
Vehicle	BYD EV (with DBW)
Computing Platform	ADLINK MVP-6100 IPC (run sensing, localization, perception, system, vehicle etc module) Dell Precision 3561(run planning and control module)
LiDAR	1× Ouster (OS1-64)

2.2 Test Yard Elements

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

2.3 Standard Scenarios

For safety reasons, only the Ve values of [10, 30] km/h are tested during road testing.

2.3.1 Ve=10km/h, D=50m

After starting to change lane to the right EGO detect the parked vehicle and avoid it.

2.3.2 Ve=30km/h, D=40m

After starting to change lane to the right EGO detect the parked vehicle and avoid it.

2.3.3 Ve=30km/h, D=50m

After starting to change lane to the right EGO detect the parked vehicle and avoid it.

3. Test Outcome

Item	Description
Test Conditions	1. In initial condition, EGO distance from parked vehicle 50m, EGO reaches the destination at a speed 10km/h. 2. In initial condition, EGO distance from parked vehicle 40m, EGO reaches the destination at a speed 30km/h. 3. In initial condition, EGO distance from parked vehicle 50m, EGO reaches the destination at a speed 30km/h.
Test Progress	In all 3 test conditions mentioned above, EGO detects the parked vehicle and avoids it, finally reaches the destination.
Test Video	PS: The road test video will be shared in the future

[shulanbushangshu]

@zulfaqar-azmi-t4
When the car changes lane and moves near the obstacle vehicle, it starts to slow down to about 5km/h. After moving through the obstacle vehicle, the speed remains at 5km/h and moves to the end point . The terminal print indicates that the automatic driving mode cannot be received. Need to confirm whether the performance is normal。

[mitsudome-r]

It could be due to obstacle cruise planner making the vehicle to slow down: https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/

Also, do you have any rosbag? It might help us diagnose if you have recordings of the following topics:

• sensor data
• tf
• /planning/scenario_planning/trajectory
• /planning/scenario_planning/lane_driving/behavior_planning/path
• /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id

[cyn-liu]

Recently, we conducted another test on this test case and found that using new code( release/2024.07 branch) did not reproduce the original problem, and the test was successfully completed.

PS: The test video will be shared soon.

[felixf4xu]

I'm curious, what's the targeting testing module, avoidance_by_lane_change_module? side_shift_module? or static_obstacle_avoidance_module?

Those kind of modules can be enabled/disabled by settings, what's your settings?

[shulanbushangshu]

As stated in the test task, there are obstacles when changing lanes, and obstacles need to be avoided。In the road test,it used the default parameters

[cyn-liu]