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# Autonomous Valet Parking functionality
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# Autonomous Valet Parking hackathon and demonstration
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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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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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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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... | @@ -7,53 +7,37 @@ This functionality will be performed at Level 4 autonomy, meaning a driver will |
... | @@ -7,53 +7,37 @@ This functionality will be performed at Level 4 autonomy, meaning a driver will |
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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 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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The current target is [Milestone #2](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/24).
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For details on the current status and progress, see that milestone's page.
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1. [Capabilities milestone 1: Waypoint following](https://gitlab.com/groups/autowarefoundation/-/epics/2)
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1. [Milestone 1: Foundations](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/23)
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1. [Capabilities milestone 2: Parking the car (single-level, empty)](https://gitlab.com/groups/autowarefoundation/-/epics/3)
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1. [Milestone 2: Follow waypoints with the NDT localizer](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/24)
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1. [Capabilities milestone 3: Parking the car (single-level, occupied)](https://gitlab.com/groups/autowarefoundation/-/epics/4)
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1. [Milestone 3: Integration of MS2 on the actual vehicle and replace trajectory record/replayer with a motion planner](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/25)
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1. [Capabilities milestone 4: Parking the car (single-level, with pedestrians)](https://gitlab.com/groups/autowarefoundation/-/epics/5)
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1. [Milestone 4: Test on the vehicle with the real route planner and integrate HD map](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/26)
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1. [Capabilities milestone 5: Parking the car (multi-level, with pedestrians)](https://gitlab.com/groups/autowarefoundation/-/epics/6)
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1. [Milestone 5: Integration on the vehicle and physical parking lot](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/milestones/27)
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# Development management
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# Development management
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The AVP hackathon and demonstration is being managed by the Autonomy Software Working Group.
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The AVP hackathon and demonstration is being managed by the Autonomy Software Working Group.
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Anyone who is commited to providing something for the demonstration, or anyone who is interested in participating, should [join the ASWG's weekly meeting](https://gitlab.com/autowarefoundation/autoware-foundation/wikis/Autonomy-Software-working-group#how-to-participate-in-the-working-group). For meeting times, see [the Autoware Foundation's events calendar](https://gitlab.com/autowarefoundation/autoware-foundation/wikis/home#autoware-foundation-events-calendar).
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Anyone who is commited to providing something for the demonstration, or anyone who is interested in participating, should [join the ASWG's weekly meeting](https://gitlab.com/autowarefoundation/autoware-foundation/wikis/Autonomy-Software-working-group#how-to-participate-in-the-working-group).
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For meeting times, see [the Autoware Foundation's events calendar](https://gitlab.com/autowarefoundation/autoware-foundation/wikis/home#autoware-foundation-events-calendar).
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# Planning workshop
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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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On December 10th, 2019, the Autoware Foundation conducted 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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The goals of this workshop were:
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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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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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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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The outcome of the planning workshop can be seen [on this page](https://gitlab.com/autowarefoundation/autoware-foundation/-/wikis/ASWG-AVP-planning-minutes-20191210).
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To join remotely, you can use the following teleconference information:
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Amongst other things, the five milestones listed above and a first-pass architecture were produced.
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```
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On the same day, Apex.AI hosted an evening [Autoware meetup](https://www.meetup.com/Mountain-View-Autoware-Meetup/).
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Zoom Meeting
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https://zoom.us/j/719194905
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Meeting ID: 719 194 905
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One tap mobile
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+16699006833,,719194905# US (San Jose)
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+19294362866,,719194905# US (New York)
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Dial by your location
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+1 669 900 6833 US (San Jose)
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+1 929 436 2866 US (New York)
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Meeting ID: 719 194 905
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Find your local number: https://zoom.us/u/aGXaGHcyX
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```
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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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# Demonstration and hackathon
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... | @@ -68,8 +52,6 @@ The goal of the hackathon is to *polish off* the Autonomous Valet Parking use ca |
... | @@ -68,8 +52,6 @@ The goal of the hackathon is to *polish off* the Autonomous Valet Parking use ca |
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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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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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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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The AVP demonstration is aiming to achieve [Capabilities milestone 4](https://gitlab.com/groups/autowarefoundation/-/epics/5).
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## Schedule and location
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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 hackathon will take place over five days in the week of April 20th, 2020.
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... | @@ -82,10 +64,10 @@ The demonstration itself being held at the AutonomouStuff parking lot, which is |
... | @@ -82,10 +64,10 @@ The demonstration itself being held at the AutonomouStuff parking lot, which is |
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## Planned software
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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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- 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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- Localisation will be performed using the deterministic NDT implementation now integrated into Autoware.Auto.
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- Obstacle detection will be based on the euclidean clustering implementation present in Autoware.Auto.
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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 planner provided by Embotech.
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- Planning will use an open-source planner provided by Embotech.
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- Motion control will use a deterministic implementation of MPC provided by Christopher Ho and Apex.AI.
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- Motion control will use a deterministic implementation of MPC currently being integrated into Autoware.Auto.
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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 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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- 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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- Safety will be achieved via an emergency stop, due to the low speed.
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