Sharing Road Test Result for Autoware Humble Version -- Test Case #6

[cyn-liu]

Hello everyone. I'm delighted to share with you the results of our road testing of the humble version of Autoware for autonomous driving.

Test Case

Test Facility

2.1 Ego Vehicle

Item	Description
Vehicle	BYD EV (with DBW)
Computer	ADLINK MVP-6100 IPC ADLINK ROSCUBE-X
LiDAR	1x Ouster (OS1-64)
RTK+IMU	Xsens Mti-680G
Camera	(AR0233, 1920*1080) 1x Front object (H-FOV 60deg) 3x side object (H-FOV 120deg)

2.2 Test Yard Elements

• Multiple Lanes
• Road Boundary
• Pedestrians Crosswalk
• Dash line and solid line
• Median strip

2.3 Standard Scenarios

Vx : speed of NPC-X.
EGO departs regardless of the behavior of the NPC-X in the adjacent lane.

2.3.1 Vx = 10km/h

2.3.2 Vx = 20km/h

2.3.3 Vx =30km/h

3 Test Outcome

Item	Description
Test Conditions	1. Set the starting and ending points, plan the global path, 2. Set the EGO speed limit to10 km/h, 3. From left behind, NPC-X is approaching in the adjacent lane with distance D[m] and at Vx[km/h]. Vx: [10, 20, 30] km/h D: [10 - 20] m
Test Progress	Completed(EGO departs regardless of the behavior of the NPC in the adjacent lane) .
Test Video	Test Case #6 Video