Perception Module Vehicle Collision with Pedestrians

[xuehuan-yang]

Describe the bug I implemented LGSVL-2020-03 simulation with Apollo-5.0 platform and launch LiDAR camera radar perception module. The perception module shows that Lincoln2017MKZ collided with pedestrians during autonomous mode.

Desktop (please complete the following information):

OS: Ubuntu 18.04 Platform: Apollo-5.0 Simulation: LGSVL-2020-03 Browser: Google Chrome Map: San Francisco Vehicle: Lincoln2017MKZ (Apollo 5.0)

To Reproduce Steps to reproduce the behavior: $ ./lgsvl/lgsvlsimulator-linux64-2020.03/simulator Check Maps -> Vehicles -> Cluster (127.0.0.1) -> Simulation -> Only Use API to control simulation.

$ cd apollo-5.0 $ sudo bash docker/scripts/dev_start.sh $ sudo bash docker/scripts/dev_into.sh

root@in_dev_docker:/apollo# sudo scripts/bootstrap.sh root@in_dev_docker:/apollo# sudo scripts/bridge.sh

root@in_dev_docker:/apollo# cyber_monitor

Go to http://localhost:8888/ -> Module Control -> Localization & Perception & Transformation $ cyber_launch start /apollo/modules/perception/production/launch/perception_all.launch

Expected behavior The vehicle should detect pedestrians obstacle and stop in front of pedestrians. The lidar, camera and radar sensor could detect pedestrian. However, perception module could detect obstacles, but the vehicle still slowing moving forward with 3km/h speed.

Please look through the scenarios with recording video. [copy following link and paste in google chrome] https://drive.google.com/file/d/1mXdmNhKydVOsoJ_-BqwlR7SP5ZHptagl/view?usp=sharing

[LiuHaolan]

Hi Xuehuan, would you mind sharing the python scripts of this scene?