Sharing Road Test for Autoware release/2024.07 branch -- Test Case 3

[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

When EGO is 40m away from the goal point, NPC1 driver away.

3. Test Outcome

3.1 Condition

EGO successfully reached the set goal point without colliding with NPCs.

3.2 Test Process Analysis

The initial goal pose between NPC1 and NPC2, which would be insufficient for EGO to park without collision.
Before the Autoware detects NPC1, NPC1 driver away.
So, the current space is sufficient for EGO to park, will not automatically modify the given goal pose, when Autoware searches within the range of [-20,20]m near the goal point.

3.3 Test Vedio

The road test video will be shared in the future

[cyn-liu]