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# Autonomous Valet Parking functionality
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The Autonomous Valet Parking functionality will provide the capability to automatically drive a car from a drop-off location (such as a carpark entrance) to a specified park, park the car, and then drive to a pick-up location upon request.
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This functionality will be performed at Level 4 autonomy, meaning a driver will not need to be present in the car.
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# Development plan
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The functionality is being developed according to five development milestones, each of which builds on the previous to provide increasingly complex autonomous valet parking capability.
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The current target is [Milestone #1, "Waypoint following"](https://gitlab.com/groups/autowarefoundation/-/epics/2).
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1. https://gitlab.com/groups/autowarefoundation/-/epics/2
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1. https://gitlab.com/groups/autowarefoundation/-/epics/3
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1. https://gitlab.com/groups/autowarefoundation/-/epics/4
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1. https://gitlab.com/groups/autowarefoundation/-/epics/5
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1. https://gitlab.com/groups/autowarefoundation/-/epics/6
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# Planning workshop
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On December 10th, 2019, the Autoware Foundation is conducting a one-day workshop led by the Autonomy Software Working Group and hosted by Apex.AI in Palo Alto, California.
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The goals of this workshop are:
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1) Plan in detail the development activities and monthly milestones for a successful AVP hackathon and demo in April 2020 (see below)
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2) Design the system architecture to the point of node allocations
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This will be planned for an early morning (in Los Angeles) start, beginning at 6AM local time to accommodate those from European and East Coast time zones who wish to join remotely better.
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Details for how to join remotely will be provided closer to the date.
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On the same day, Apex.AI is hosting an evening [Autoware meetup](https://www.meetup.com/Mountain-View-Autoware-Meetup/).
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The meetup is a local event and will not be broadcasted.
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Attendees at the planning workshop are most welcome to attend.
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# Demonstration and hackathon
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The Autoware Foundation plans to demonstrate the AVP functionality on the 24th of April, 2020 in Palo Alto, California.
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In the week leading up to this demonstration, a hackathon will be held in Palo Alto from April 20th to April 23rd, to polish off the demo and handle any final tasks.
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## Goals
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The goal of the hackathon is to *polish off* the Autonomous Valet Parking use case functionality and finalise getting it working on a real vehicle.
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Because it is not feasible to be implementing self-driving functionality within four days, the intention is to have the necessary functionality in Autoware.Auto completed before the hackathon starts.
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A simulation of the demonstration location in the LGSVL simulator will be used for testing and development by most developers prior to the hackathon.
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## Schedule and location
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The hackathon will take place over five days in the week of April 20th, 2020.
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The first four days will be dedicated to finalising the demonstration and fixing any remaining issues in Autoware.Auto.
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The final day will be the demonstration itself.
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The hackathon will be held at Apex.AI's office in Palo Alto, California.
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The demonstration itself being held at the AutonomouStuff parking lot, which is about ten minutes' (manual) drive away.
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## Planned software
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- The Velodyne driver will be the one developed originally for Autoware.Auto by Apex.AI and being pushed to the `ros-drivers` repository for ROS 2.
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- Localisation will be performed using the deterministic NDT implementation currently being proposed for Autoware.Auto by Apex.AI.
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- Obstacle detection will be based on the euclidean clustering implementation present in Autoware.Auto.
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- Planning will use a new behaviour-tree-based planning architecture provided by Tier IV.
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- Motion control will use a deterministic implementation of MPC provided by Christopher Ho and Apex.AI.
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- The vehicle interface will be provided by AutonomouStuff, who have just recently completed a ROS 2 version of their PACMod driver and considering a port of their Speed and Steering Control software stack.
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- The map format used will be OpenDrive.
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- Safety will be achieved via an emergency stop, due to the low speed.
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## Hardware platform
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The hackathon and demonstration will be performed using Apex.AI's Lexus.
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This SUV has two Velodyne 16s mounted front and back for localisation and obstacle detection, an advanced GPS/IMU sensor, and a Nuvo computer.
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# Discussion of the AVP hackathon and demonstration
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Discussion about the above plans is held at the ROS Discourse and in GitLab issues on the [Autoware.Auto projects](https://gitlab.com/autowarefoundation/autoware.auto).
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Initial discussion is in [this thread](https://discourse.ros.org/t/autoware-auto-autonomous-valet-parking-hackathon-and-demonstration-april-2020/11399).
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Technical discussion should be held in the [GitLab issues for the Autoware.Auto projects](https://gitlab.com/autowarefoundation/autoware.auto) while more casual discussion should be held in [the Autoware category of the ROS discourse](https://discourse.ros.org/c/autoware). |
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