Autonomy Software WG Meeting 2022/11/01

[BonoloAWF]

Administrative

• Previous Meeting Minutes

Common Resources

• Bus ODD software architecture proposal
• Bus ODD architecture design discussions
• Bus ODD candidate simulator comparisons
• Bus ODD milestone development plan
• Bus ODD Project Board
• Autoware contributors list

Announcements

Autoware.Universe

• Bus ODD Sep-Oct Milestone - closing
• Bus ODD Nov-Dec Milestone - starting
• Bus ODD high priority issues not in the current milestone
• PRs waiting for review
• Autoware.Universe reported bugs
• Autoware design discussions and demos

Discussion topics

Bus ODD progress updates:

ITRI bus integration update (In meetings with 7am UTC time slot)

• No updates this week

LeoDrive bus integration update

• No updates this week

Action Items

Review of Issues and Discussions

The following Discussions and Issues were highlighted:

• feat(behavior_velocity_planner): add speed bump module autoware.universe#647 - there is a proposal for speed bumps to be a separate module within Autoware. The velocity should depend on the height of the speed bump (via a configurable param or tag).
• Image messages have latency or dropped autoware.universe#1228 - PR in progress
• Map Based Prediction Incorrect Predictions autoware.universe#494 - will be included in the Autoware Core Milestone during refactoring
• Checking only 4 corners in the drivable area autoware.universe#1716 - waiting for review
• Enable OpenCL Backend for TVM autoware.universe#2186 - issue seems to only occur with centerpoint models
• Finalize the field type for pointcloud autoware.universe#563 - augmenting Return type, Channel, Time and Intensity to the XYZ Positions of lidar points. New Pointypes eg. XYZIRC were created. Autoware would require a pointcloud converter.
• behavior_path_planner generated path outside of drivable area autoware.universe#1761 - PR in progress
• some packages use only vehicle_width/2 autoware.universe#1734 - ready to merge
• Vehicle starts move before the steering angle converged autoware.universe#1543 - no updates
• feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py autoware.universe#2193 - instructions to test feature should be provided
• behavior_path_planner generating invalid path orientation autoware.universe#2125 - path planner not checking orientation
• planning sometimes fails when using RRT* for parking autoware.universe#2099 - not started
• Using a de-grounded point cloud for NDT matching gives a more reasonable match score autoware.universe#2044 - benchmarking of localisation could be part of CI, other vehicles' impact on localisation should be considered
• Adding NDT reinitalization statement and reinitialization while moving autoware.universe#1375 - should be tackled as part of Autoware Core since architectural redesign of initialisation is necessary
• avoidance ignores pedestrian if there is a bus behind autoware.universe#2095 - not yet assigned - avoidance manoeuvre for pedestrian (eg. stopping, awareness etc.) needs to be considered