WJaworskiRobotec
commented
1 year ago 1. Moving in Harmony with a Lead Vehicle
● Bus follows up with a lead vehicle at around 30km/h
● Bus slows down if the lead vehicle is slowing down
2. A Vehicle Cuts-In with the Bus
● Bus drives on the right lane
● Other vehicle drives on the left lane, slightly ahead of the bus
● Other vehicle cuts in front of the bus (from the left lane to the right lane)
● Bus slows down and allows another vehicle to get into the lane safely
3. Performing Lane Change to Pass a Stationary Vehicle
● Bus drives on the right lane
● Bus detects a stationary vehicle on the path
● Bus slows down and safely manoeuvres around the stationary vehicle by switching lane
● Bus merges back to the right lane after passing the stationary vehicle at a safe distance
4. Interacting with Pedestrians at a Crosswalk
● Bus drives on the route
● Bus detects some pedestrians standing by the crosswalk
● Bus predicts that pedestrian might cross the road and slows down
● Bus slows down gently until coming to a complete stop before the crosswalk and waits until pedestrians cross
● Bus continues to drive after the crosswalk passing
5. Interacting with a Speed Bump
● Bus drives on the route
● Bus detects a speed bump coming up
● Bus slows down gently until it arrives at the speed bump
● Bus gently passes over the speed bump and continues driving as normal
6. Interacting with a Traffic Light
● Bus drives on the route
● Bus detects a traffic light coming up
● Bus detects the colour of the traffic light and
○ Comes to a stop if the traffic light is RED
○ Bus continues on driving if the traffic light is GREEN
○ Bus continues on driving (?) if the traffic light is YELLOW
7. T-Junction Turn and Interacting with Incoming Traffic
● Bus drives towards the T-Junction
● Bus comes to a complete stop before the T-Junction line
● Bus stops until the passing vehicle drives through at the main road
● When the passing vehicle is at a safe distance, the bus merges to the main road with a right turn
8a. Bus Stop Handling (onboarding passengers)
● Bus drives towards the upcoming bus stop
● Bus slows down while reaching the bus stop
● Bus docks at the bus stop
● Bus opens the doors and allows passengers to get on the bus
● Bus closes the doors after all passengers are onboarded
● Bus drives out of the bus stop area
8b. Bus Stop Handling (offboarding passengers)
● Bus drives towards the upcoming bus stop
● Bus slows down while reaching the bus stop
● Bus docks at the bus stop
● Bus opens the doors and allows passengers to get off the bus
● Bus closes the doors after all passengers are offboarded
● Bus drives out of the bus stop area
YoshinoriTsutake
stale[bot]
Description
To select 2-3 scenarios from the list planned from real world demo. Scenarios should be executed and recorded in AWSIM
Expected Output
Videos from AWSIM that could be used for Bus ODD demo