autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
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Test Autoware in real urban environment #8071

Open liuXinGangChina opened 3 months ago

liuXinGangChina commented 3 months ago

Checklist

Description

Since AWF’s milestone for the half of the year focus on urban odd,we try to test autoware in real urban odd. firstly go with localization stability

Purpose

Test localization stability in real urban environment

Possible approaches

Definition of done

liuXinGangChina commented 2 months ago

Test condition

  1. Autoware Version: 2024.07.17
  2. Docker Version: Official Docker 2024.08
  3. Launch file: Logging_simulator.launch (only localization and related module been pulled up)
  4. Rosbag: Lidar Ouster os1-64-U (mode 1024x10)
  5. Traffic status: Rush hour (6.00 pm)
  6. Traffic Participants: e-bike, bike, motorcycle, bus, truck, car, pedestrian
  7. Test route Distance: 5km
  8. Duration: 16 minutes
  9. Route elements: more than 10 crossroads and zebra crossing, pass through hybrid road which shared by bike and car

Image

Test result

  1. Localization pipeline works well under different scenarios, localization failure or crush not detected
  2. Path filtered by ekf is smooth and continuous
  3. NDT‘s exec time:
    1. Average: 3ms
    2. Max: 10ms
  4. Rviz screen cast: including localization visualization, ndt-exec-time and ndt-iteration-num click here to watch the video
liuXinGangChina commented 1 month ago

At the end of September,we successfully collected data under rain We use that data for lidar only mode localization(ndt) test, the result show that even in rainy env autoware's localization pipeline still work well

For detailed localization report please take a look at this discussion