Open isamu-takagi opened 1 year ago
This pull request has been automatically marked as stale because it has not had recent activity.
The following ideas were commented on in the API WG. https://github.com/orgs/autowarefoundation/discussions/3994
It looks like the areas are fully exclusive. Does it handle the case of ramps where two car flows merge?
It looks like the areas are fully exclusive. Does it handle the case of ramps where two car flows merge?
I think it is applicable. It can be considered an intersection with two entrances and one exit.
This pull request has been automatically marked as stale because it has not had recent activity.
Checklist
Description
Currently, communication with infrastructure such as shutter is handled by
InfrastructureCommand.msg
andVirtualTrafficLightState.msg
, but sync issues and requests for cancellation support have been reported. So I propose a new interface to resolve them. Also, since the name is confusing, change it to V2X maneuver coodination, controlled area, or something.Purpose
Achieve the following use cases.
Possible approaches
Think of a controlled area by a infrastructure as a shared resource. The vehicle acquires and releases locks of that resources. Also, when communicating directly with the infrastructure without using the Internet, it is assumed that the communication area is limited, so lock acquisition and release must be completed within this area.
Based on this area, consider the four event points in the table below.
Entrance and exit
There may be multiple paths within the controlled area, such as intersections. To distinguish between them, the locks are given entrance and exit gate IDs. This is used by the infrastructure to check if a path conflicts. This can also be applied to specifying the number of floors in an elevator.
Priority and cancellation
Specifies the lock priority for reassigning locks among multiple vehicles. Typically this is the distance and lower value having higher priority. When reassignment is needed, the infrastructure will request the cancellation to the vehicle. The vehicle will try to release the lock when cancellation is requested.
Architecture
Autoware and facilities communicate using any protocol (if you use a non-standardized protocol, you will need to create a dedicated driver). The V2X component converts ControlledAreaMessages using drivers corresponding to each protocol and relays them to the planning component.
Interface
The ManeuverCoodinationMessages does not have a vehicle ID because it is clear that the target vehicle is itself. However, The V2X drivers must provide a vehicle ID when communicating with the facility.
/v2x/maneuver_coodination/command
/v2x/maneuver_coodination/status
ManeuverCoodinationCommand
ManeuverCoodinationStauts
UUID
The UUID is used to prevent the following situations. If messages can be synchronized, a sequence number, etc. is also fine. In the diagram, blue indicates passable and red indicates impassable. It's dangerous if the software thinks it's passable and the facility thinks it's impassable. The facility may allow other vehicles to pass, and multiple vehicles may be passing at the same time.
Sequence
Compatibility with standard messages
ITS Standards
Lanelet2 format
Controlled area (polygon).
Communication area (polygon).
Start point to acquire/release lock (line). There is no need to define in a map if it can be calculated from the controlled/communication area.
Check point to acquire/release lock (line). There is no need to define in a map if it can be calculated from the controlled/communication area.
Infrastructure.
Definition of done