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Competition details and rules

Competition Contents

This competition is to compete the circuit driving time by the autonomous driving vehicle on the online simulator.

Driving Environment

Screen

  • You will drive one lap around the circuit's outer perimeter (about 4km in length).

Autonomous driving vehicle

Screen

  • A racing car is used as the vehicle for autonomous driving.
  • It is capable of running at a maximum speed of about 160km/h.

Rules for the entire competition

  • You are required to create the source code to run the scenario on LGSVL(simulator for autonomous driving) using AutowareAuto.
  • The scenario will be a time attack competition in which the participants will have to compete for time to drive one lap of a circuit track.
  • Participants will create the source code to complete the given scenario, and verify it in the local environment first.
  • By uploading the source code to the online environment, the simulation will be carried out online and the time will be given. Finally, the ranking will be determined based on the simulation result time of the uploaded source code.

Scenario

screen screen

  • A total of six vehicles (five NPC vehicles and one vehicle of your own) will go around the course.
  • At the starting position, there are three vehicles in the front row, two and your vehicle in the rear row. Your vehicle will start from the last position on the outside of the rear row.
  • The movement of the NPC vehicles is fixed, and they are set to drive only along the inside, center, or outside of the course, respectively.
  • Please drive while overtaking other vehicles in order to reach the goal faster.

Detailed rules

Goal judgment

screen

  • There are checkpoints (1) to (3) in the above image on the course. When a vehicle passes all the checkpoints in order from (1) to (3), it is judged to have reached the goal.
  • As shown in the image above, checkpoints are defined as cubes.
  • When the vehicle and the checkpoint overlap even slightly, it is judged to have passed the checkpoint.

Time Measurement

  • The start of the simulation is the timing to start the measurement.
  • The measurement ends when the vehicle reached to the goal.
  • The time limit is 5 minutes, and you will be disqualified if you exceed 5 minutes.

Track Limit Penalty

screen

  • If you go off course, a penalty will be added to your final time for the time you were off course.
    • The course is defined as the area within the lanelet.
  • If /aichallenge/vehicle_pose (the base_link position of the vehicle) is out of the lanelet, it is considered off course.
  • You can use the following command to check the penalty value while driving.
# In the ADE container
source ~/aichallenge_ws/install/setup.bash
ros2 topic echo /aichallenge/track_limit_penalty

Contact Penalty

  • If you collide with another vehicle, a 5 second penalty will be added for each collision.

Time

  • The final time used to determine the rankings is calculated by adding penalties to the measured time.
  • It can be checked with the following command.
# In the ADE container
source ~/aichallenge_ws/install/setup.bash
ros2 topic echo /aichallenge/score
# When a goal is judged or disqualified, the following message is displayed.
# `time` is the final time.
# The measurement time(rawTime), contact penalty(contactPenalty), and track limit penalty(trackLimitPenalty) can also be checked in this message.

# time: 161.35218811035156
# rawTime: 156.35218811035156
# hasFinished: 1
# contactPenalty: 5.0
# trackLimitPenalty: 0.0

NPC behavior

  • NPC vehicles follow a pre-defined path and speed.
  • In case of a collision, the NPC vehicle will behave as follows, depending on the situation.
  • If the front of the vehicle makes contact(i.e. the vehicle collides with another vehicle from behind), it will stop on the spot.
  • If the rear of the vehicle makes contact(i.e. the vehicle is hit by another vehicle from behind), it will continue driving.
  • Different routes and speeds are set for local and online simulations.