Street light is not perceived as an obstacle.

Kim-mins commented 4 months ago

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I'm convinced that this is not my fault but a bug.

Description

Hi team,

I'm currently running Autoware with Carla, and I found a situation that a street light is not properly perceived as an obstacle and the vehicle eventually collides with it. Here are a front view and rviz video: [rviz] [frontview]

At 0:12 of the rviz video, the ego vehicle invades the sidewalk, and it eventually collides with a street light while recovering from the error. I know that the bridge I used had an issue on processing control command so that is not the point, but while driving out from the sidewalk, I think that the vehicle should perceive the street light as an obstacle and stop before the collision.

Expected behavior

I hope the vehicle to perceive the obstacle properly, and stop before any collision.

Actual behavior

However, the vehicle collides with the obstacle.

Steps to reproduce

Here's the ros2bag file for the reproduction: [ros2bag]

Versions

autoware.universe: 7877192cb5700c1db15109dcd959785fc381951d
Carla: 0.9.15

Possible causes

No response

Additional context

No response

sgNicola commented 4 months ago

Hi~,I also encountered this problem and I think this is due to that the vector map used in Carla doesn't contain the traffic lights.

Kim-mins commented 4 months ago

Hi @sgNicola

I also aware that our carla map does not contain traffic light information. My point on this issue is not the traffic light, but the obstacle at front(in this case, street light), which is not properly perceived as an obstacle.

sgNicola commented 4 months ago

I see, thank you for your explanation, the route is strange.

maxime-clem commented 3 months ago

I confirmed that AEB (https://autowarefoundation.github.io/autoware.universe/main/control/autoware_autonomous_emergency_braking/) works as expected with your bag. This means we can detect the collision, but because of the incorrect control, the collision detection is very late and even if we trigger an emergency stop it is too late to avoid the collision. By default even if AEB detects a collision the emergency stops is not activated. See this discussion if you want to enable it: https://github.com/orgs/autowarefoundation/discussions/4669.

Kim-mins commented 3 months ago

Thank you for the response @maxime-clem!!

I did not notice the emergency stop.. thank you so much for the confirmation.

By the way, I got two questions on this issue:

I thought there was no emergency stop since I could not check any log regarding emergency stop in [launch.log] (sorry for not sharing the log..). Isn't the emergency stop always logged to launch.log when it was activated?
Also, I thought this was the issue of perception, since there was no red wall in rviz behind the obstacle. Is it not activated in the case of emergency stop?

Thank you!

maxime-clem commented 3 months ago

By default even if AEB detects a collision the emergency stops is not activated. See this discussion if you want to enable it: https://github.com/orgs/autowarefoundation/discussions/4669.

In the default configuration there is no emergency stop with AEB and no messages in the logs. (see https://github.com/orgs/autowarefoundation/discussions/4669)

I confirmed on the bag that AEB works as expected locally with the current Autoware. However in your bag the output of AEB never switches to the emergency mode and I could not understand why. If you encounter another similar issue please feel free to create another issue.

Otherwise I think we can close the present issue since the street light is correctly perceived as an obstacle by AEB with the current Autoware.

Kim-mins commented 3 months ago

Thank you for the response @maxime-clem!

I think I got your point. thank you for the details. I'll close this issue soon, and I'll let you know if I encounter the similar issue.

Thanks!

autowarefoundation / autoware.universe