Sharing Road Test for Autoware -- Test Case 6

[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

Note: After clarification, D2 is represents the distance between the manually set endpoint and the target vehicle

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

Ve: Ego Speed Limit.
D1: The distance between the vehicle and the road boundary is within [0m, 1m]
D2: The distance between the manually set endpoint and target vehicle is within [-2 m , 2 m]

2.3.1 Ve= 10Kmph, D1= [0m, 1m], D2= [-2 m , 2 m]

2.3.2 Ve= 20Kmph, D1= [0m, 1m], D2= [-2 m , 2 m]

2.3.3 Ve= 30Kmph, D1= [0m, 1m], D2= [-2 m , 2 m]

2.3.4 Ve= 40Kmph, D1= [0m, 1m], D2= [-2 m , 2 m]

3. Test Outcome

Item	Description
Test Conditions	1. In initial condition, EGO parked at U-shaped intersection, EGO reaches the destination at a speed limit 10Kmph. 2. In initial condition, EGO parked at U-shaped intersection, EGO reaches the destination at a speed limit 20Kmph. 3. In initial condition, EGO parked at U-shaped intersection, EGO reaches the destination at a speed limit 30Kmph. 4. In initial condition, EGO parked at U-shaped intersection, EGO reaches the destination at a speed limit 40Kmph.
Test Progress	In all 4 test conditions mentioned above, we manually set the goal near the target vehicle within [-2 m , 2 m] in distance, which would be too close for EGO to park without collision. Then, the Autoware automatically modify the given goal by appropriately finding an open space in road shoulder and park to the modified goal.
Test Video	PS: The road test video will be shared in the future