aichallenge_scoring

This package is responsible for tasks that are necessary for the scoring and ranking of participants of the AI Challenge.

It consists of the following features:

• Calculates the distance_score of the vehicle.
• Checks whether the current vehicle footprint is inside the lanelet.
• Measures the time it takes for the vehicle to complete Task 3 of the AI Challenge 2023 tasks.

How to run

$ cd ws
$ mkdir tmp
$ vcs import tmp < test.repos
$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r
$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to aichallenge_scoring

$ ros2 launch aichallenge_scoring aichallenge_scoring.launch.xml

Interface

Input

• /localization/kinematic_state [nav_msgs::msg::Odometry]
• /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]

Output

• output/footprint_marker [visualization_msgs::msg::Marker] : Vehicle footprint visualization
• output/score [aichallenge_scoring_msgs::msg::Score] : Resulting score

Parameters

Node Parameters

Visualization

The vehicle footprint calculated in this node can be visualized by displaying the output/footprint_marker topic in Rviz2.

When the vehicle footprint is inside the lane, the polygon is shown in green.

when the vehicle footprint leaves the lane, the polygon turns red.

aichallenge_scoring_msgs

Message Definition

How the score output can be processed

• At any point during the run, if the ego-vehicle leaves the lane for even a moment (if is_outside_lane returns true even once), then the distance_score is recorded for that moment and the run is over.
• If ego-vehicle completes Task 3 (has_finished_task3 returns true), then the distance_score and task3_duration for that moment is recorded.

Examples of the score output

The score topic output/score shows output like the ones below.

When the vehicle leaves the lane, the is_outside_lane shows true.

When the vehicle enters the Task 3 area defined by the task3_start_distance and task3_end_distance parameters, the is_doing_task3 is set to true.

After Task 3 is finished, the is_doing_task3 returns back to false, and the task3_duration is filled in with the time it took for Task 3 to be completed in milliseconds.