Create Dense Urban ODD Scenarios

[brkay54]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Scenario Slides: Slides
Scenario Documentation: Google-sheets
Development Suite: Evaluator Suite

Reference Videos
Sample AWSIM Test Failures: AWSIM Test Failures
NTUCampus (Thanks to Daniel-san from TierIV)

This issue addresses the need to create realistic scenarios for dense urban Operational Design Domains (ODDs) involving Vulnerable Road Users (VRUs) such as pedestrians, bicycles, and motorcycles. The main task is to check the capability of the scenario_simulator to implement these scenarios, create sample scenarios with defined trajectories for NPCs, and provide the necessary documentation and virtual maps.

Purpose

The purpose of this issue is to enhance the simulation capabilities of Autoware by providing detailed and realistic scenarios involving VRUs in dense urban environments. These scenarios are crucial for testing and validating the safety and effectiveness of autonomous driving systems in complex urban settings.

Possible approaches

• Evaluate the existing capabilities of the scenario_simulator to determine if it can simulate the required urban scenarios with VRUs. If not, identify the gaps and create detailed issues to address them.
• Develop sample scenarios that allow NPCs to move along defined trajectories, simulating real-world interactions with VRUs.
• Document all the scenarios comprehensively, outlining their design and expected outcomes.
• Create virtual maps as necessary to support the scenarios, ensuring that they reflect typical dense urban conditions.
• Implement the scenarios and integrate them into the AWF project on evaluation.ci for continuous integration and testing.

Definition of done

• Determine the capability of scenario_simulator for urban VRU scenarios.
• Create and document sample scenarios with defined NPC trajectories.
• Prepare detailed scenario documentation.
• Develop virtual maps required for the scenarios.
• Upload and integrate scenarios into the AWF project on evaluation.ci.

[brkay54]

The first test for the currently created scenarios: success rate - 18/58