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[WIP] About the Finals

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Introduction

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In the final competition, participants will operate a golf cart-style autonomous vehicle using their development laptops to showcase the performance of their self-driving software. All operations, from connecting the development laptop to the vehicle to initiating autonomous driving, are to be performed by the participants. +

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+ Last year's run +

Driving situation
+（refer: https://www.jsae.or.jp/jaaic2022/final.html "Explanation of　the competition"）

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About the competition vehicle

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+ Competition Vehicles +

Vehicles used for competition

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  • The vehicle used in the competition is fitted with the same sensors (LiDAR) as the one used in the E2E space during the qualifying round. However, the vehicle’s kinematic properties differ from the model in the simulation.
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  • The vehicle comes with a network interface linked to the LiDAR and a CAN interface. Autonomous driving is facilitated by connecting a development laptop to these interfaces.
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  • A mentor and a safety driver will accompany the competition vehicle. The mentor will handle the interface connections and aid in the operation of the autonomous driving software, while the safety driver will manually maneuver the vehicle and oversee it during autonomous driving.
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  • The vehicle offers two control modes: automatic and manual. The safety driver has the ability to switch between these modes.
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  • During autonomous driving, the safety driver has the capability to transition the vehicle's control mode from automatic to manual by pressing the brakes. This action is termed an override. The safety driver will initiate the override if continuing autonomous driving is deemed unsafe.
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[WIP]Operation (Finals Competition)

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Note: This is a draft page. Information on this page may change.

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This page outlines the procedure to operate the competition vehicle (a drive-by-wired golf cart, hereafter referred to as “golf cart”) on a laptop with Autoware installed.

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※Instructions are based on the assumption that the repository for development is located in /home/autoware/aichallenge2023-integration-final.

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Steps to Start Autonomous Driving

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This section details the process from connecting your laptop to the vehicle up to initiating autonomous driving.

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※Please be sure to read the safety precautions before heading to the test field.

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  1. (Competition participants) Open a terminal window and execute the following command to start Autoware.

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    $ cd ~/aichallenge2023-integration-final/scripts
+$ ./run_autoware_on_vehicle.sh
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    2. +

  2. (Competition participant) Complete initialization of localization.

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    1. Input 2D pose estimate from rViz.
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    2. Confirm that the Localization display on the AutowareStatePanel is INITIALIZED. +Localization INITIALIZED State
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    3. +

  3. (Competiton participant) Set the goal point.

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    1. Open a terminal window and execute ~/aichallenge2023-integration-final/scripts/set_goal.sh to set the goal point.
      2. +
    2. Confirm with rViz that the route to the goal is drawn.
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    4. +

  4. (Safety driver) Set the golf cart mode to automatic mode.

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    5. +

  5. (Competiton participant) Enable vehicle control by Autoware.

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    1. Click on the Enable button of the AutowareControl in the AutowareStatePanel after receiving the mentor’s instructions.
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    2. Confirm that the display of AutowareControl in the AutowareStatePanel is Enabled. +Autoware Control Enabled
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    6. +

  6. (Safety Driver) Check the steer behavior, confirm that the golf card is successfully accepting Autoware control, and tell the competition participant that the vehicle is ready to engage in autonomous driving.

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    7. +

  7. (Competiton participant) Sets Autoware to autonomous driving mode.

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    1. Tell the safety driver, “I will start automatic operation”.
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    2. Click the AUTO button in the OperationMode of the AutowareStatePanel.
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    3. Confirm that the OperationMode display on the AutowareStatePanel is set to AUTONOMOUS. +Operation Mode Auto
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When the safety driver performed override

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Should there be a risk of the vehicle hitting a curb or an obstacle during autonomous driving operation, the safety driver will apply the brakes and switch the vehicle control from automatic operation to manual operation. This is called override.

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If the safety driver performs an override while the vehicle is engaging with Task 1 or Task 2, the current task will be forfeited, and autonomous driving will restart at the subsequent task.

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  1. (Safety Driver) Inform the participant of the override
    2. +
  2. (Safety Driver) Set the golf cart to manual mode.
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  3. (Safety Driver) Move the vehicle to the starting point of the next task.
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  4. Click on the Disable button of the AutowareControl in the AutowareStatePanel. Mentor will ask you to do so.
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  5. Confirm that the display of AutowareControl in the AutowareStatePanel is set to Disable.
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  6. Resume from step No.4 in Steps to Start Autonomous Driving (Safety Driver)Set the golf cart mode to automatic mode.
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Safety precautions

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  • Failure to switch to automatic operation mode may occur due to a poor HW connection or other reasons. Failure to switch to the automatic operation mode is diagnosed by the safety driver. If this event occurs, follow the mentor’s instructions and redo the procedures to start autonomous driving.
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  • Participants who are not riding in the vehicle should stay on the sidewalk during the autonomous driving. Please do not enter the designated area for competition or approach the vehicle.
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  • Please be sure to hold onto the upper handrail during the autonomous driving.
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  • Please secure your laptop computer used for autonomous driving with a provided band. If you have difficulty typing on the keyboard, you may use the USB wireless keyboard. Please ask to your mentor.
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Rules and Scoring

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This page explains the rules and scoring for the finals.

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Basically, the rules are the same as the rules for the preliminary round, but since the actual golf carts will be used, some of the rules and scoring methods have been changed.

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Challenges for the Finals

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  • The contestants will be required to complete the following tasks. +
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    • Task 1: Stop before a small obstacle (cardboard box) and re-start after removing the obstacle.
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    • Challenge 2: Driving through smoke
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    • Task 3: Running between S-curves (slalom) and between L-curves (crank)
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  • The contestants are required to start the automatic driving from the start point and aim to reach the goal point.
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Scoring Method

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  • Ranking is determined by distance points. +
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    • Distance points: min(overall distance traveled from the start point (m), distance of the entire course) * (1.0 - assignment 1 penalty - assignment 2 penalty - assignment 3 penalty)
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  • If the distance points are the same, the Competitor with the shortest running time in the Task 3 area will be placed higher (if he/she runs to the end of the task).
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Competition Rules

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The rules governing the entire competition are as follows

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  • Driving speed is 0~5km/h
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  • If the speed exceeds the speed limit by more than 2km/h, disqualification = 0 points
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  • Time limit is 5 minutes (to accommodate the case where the vehicle stops in the middle of the route)
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  • Time is measured from the time the vehicle starts.
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  • Please do not use an algorithm that sets the route in advance and drives in a deterministic manner.
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  • The content of the submitted code may be checked during the judging.
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  • If any intentional irregularities are discovered, such as codes that affect the scoring process, the contestant will be disqualified.
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Conditions for Completion of Run

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If any of the following conditions are met, the automatic driving will end immediately and the distance points at that point will be recorded.

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At this time, the vehicle’s automatic driving mode is automatically deactivated and the vehicle also stops immediately.

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  • Exceeds the speed limit of 7 km/h
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  • Exceeds the time limit of 5 minutes
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  • Any part of the vehicle body deviates from the travel lane
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Override Conditions

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When any of the following conditions are met, the safety driver in the driver’s seat of the vehicle intervenes in the driving operation and switches to manual operation (implementation of override).

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At this time, the distance point immediately before the override time is recorded. The safety driver manually drives the vehicle to a safe point and stops it. The participants can try to drive automatically from this point again.

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  • If the vehicle is too close to an obstacle and the safety driver determines that it is dangerous
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