Operational Design Domain working group

Operational Design Domain working group

• The Operational Design Domain Working Group is responsible for defining the Operational Design Domain (ODD), use cases and scenarios.
• ODD use cases specify where and how Autoware can operate.
• The group has been working on the following ODDs and use cases for Autoware.

Working group leader(s)

• @Igata-ctrl Hiroshi IGATA (TIER IV)

Working group goals

The goals of the Operational Design Domain Working Group are:

• Design process for defining Operational Design Domain and its scenarios
• Investigate literature on ODD definition and ODD based development
• Create and agree upon the ODD definition template
• Fill in the ODD template with appropriate parameters
• Design process for defining supporting scenarios for the ODD
• Investigate literature on ODD based development and Continuous Integration
• Understand existing scenario examples and build a more comprehensive deck
• Reach consensus on machine readable format of the scenarios
• Write all the necessary scenarios in the machine readable format

Achievements since July, 2020

• Identified AWF document which describes the importance of ODD based development.
• Literature search for ODD definition and its process.
  • One of the most important literatures was A Framework for Automated Driving System Testable Cases and Scenarios.
• Designed ODD for Cargo Delivery and AVP, for comparison.
• Compared scenario description formats.
• Reached consensus on the simulation road map and the usage in cargo delivery development.
  • First step : Adopt Tier IV's GUI scenario editor, test runner, and planning simulator.
    • Tier IV format is based on OpenScenario 1.0 with some enhancements.
    • These tools are being made open sourced for use in Autoware community.
  • Second step : Integrate LGSVL via ZeroMQ adapter and discuss more abstract scenario formats.
• Shared use case scenario list from Tier IV-Yamaha factory parts delivery project (video).
• Working group members have created the machine readable scenarios form the list and set them onto the Gitlab repository.
• Tier IV has open-sourced the scenario simulation framework which is used in ODD WG including GUI scenario editor, scenario runner and the planning simulator.
• Designed ODD for public road bus service.
• Listed 100+ use cases and created machine readable scenarios from the use case list.
• The created scenarios have been uploaded to the CI/CD pipeline and being used for development of Autoware universe for public road bus ODD.
• Started discussion for the use cases based on the collective feature/task list by AWF working groups (2023).

Scenario Tool Summary

• [Autoware Evaluator (CI/CD pipeline)]

  • Cloud based DevOps (integration of the development tools including the scenario editor and the scenario simulator below)
  • A product from TIER IV and offered for the official Autoware Foundation projects like Cargo Delivery and Public Road Bus, etc.
  • The user guide is available TIER IV document site
  • As it consumes AWS resource, the (batch) weekly execution of the scenario simulation is managed by the Software/ODD WG leads

• [Scenario Simulator V2 (Scenario testing framework)]

  • Stand alone scenario simulation tool
  • An OSS from TIER IV freely available for any Autoware developer/researcher
  • The documentation of the Scenario Testing Framework (open sourced from Tier IV) is on GitHub

• The GUI Scenario editor

  • Web based GUI scenario editor freely available from TIER IV
  • You can create and export scenarios with this web interface
  • The user guide is available TIER IV document site

• [TIER IV account]

  • The working group members who are interested in creating and testing scenarios are advised to create a free TIER IV account here.
  • Once you have created your account, please let @Igata-ctrl know the (long) User ID which appears on your login page. After @Igata-ctrl registered you to the AWF group in the Evaluator (CI/CD pipeline), you can go to AWF Autoware Evaluator page to see the simulation results, create/edit scenarios, etc.
  • If you already have a TIER IV account, your 4-digit User ID continues to work, so you do not need to register to TIER IV account again.

Meeting minutes

• The dates are in (GMT+9:00) JST (Japan Standard Time)

  • Minutes pages on and after 2022/03/22
  Older Minutes

  • 2022/03/15
  • 2022/03/08
  • 2022/03/01
  • 2022/02/22
  • 2022/02/15
  • 2022/02/08
  • 2022/02/01
  • 2022/01/25
  • 2022/01/18
  • 2022/01/11
  • 2022/01/04
  • 2021/12/21
  • 2021/12/14
  • 2021/11/30
  • 2021/11/23
  • 2021/11/16
  • 2021/11/09
  • 2021/11/02
  • 2021/10/26
  • 2021/10/19
  • 2021/10/12
  • 2021/10/05
  • 2021/09/28
  • 2021/09/21
  • 2021/09/14
  • 2021/09/07
  • 2021/08/31
  • 2021/08/24
  • 2021/08/17
  • 2021/08/10
  • 2021/08/03
  • 2021/07/27
  • 2021/07/20
  • 2021/07/13
  • 2021/06/29
  • 2021/06/22
  • 2021/06/15
  • 2021/06/08
  • 2021/06/01
  • 2021/05/25
  • 2021/05/18
  • 2021/05/11
  • 2021/04/27
  • 2021/04/20
  • 2021/04/13
  • 2021/04/06
  • 2021/03/30
  • 2021/03/23
  • 2021/03/16
  • 2021/03/09
  • 2021/03/02
  • 2021/02/23
  • 2021/02/16
  • 2021/02/09
  • 2021/02/02
  • 2021/01/26
  • 2021/01/19
  • 2021/01/12
  • 2021/01/05
  • 2020/12/22
  • 2020/12/15
  • 2020/12/08
  • 2020/12/01
  • 2020/11/24
  • 2020/11/17
  • 2020/11/10
  • 2020/11/03
  • 2020/10/27
  • 2020/10/20
  • 2020/10/13
  • 2020/10/06
  • 2020/09/29
  • 2020/09/15
  • 2020/09/09
  • 2020/09/01
  • 2020/08/25
  • 2020/08/19
  • 2020/08/11
  • 2020/08/04
  • 2020/07/29
  • 2020/07/21
  • 2020/07/14
  • 2020/07/10
  • 2020/07/02
  • The ODD working group shared folder for discussion material is here.[Restored on October 26, 2022.] Please click the ask for permission button or contact Hiroshi Igata if you do not have access to the folder and/or any of the files in there.

  How to participate in the working group

  Weekly meeting information

  • ODD WG meetings are held in the following single time slot. [new]

    • 7:00am, Monday (PDT) / 6:00am, Monday (PST) US Pacific Time
    • 10:00am, Monday (EDT) / 9:00am, Monday (EST) US Eastern Time
    • 4:00pm, Monday (CEDT) / 3:00pm, Monday (CEST) Poland time
    • 5:00pm, Monday (TRT) Turkey time
    • 10:00pm, Monday (CST) Taiwan time
    • 11:00pm, Monday (JST) Japan Time

  To receive calendar invites to the working group's meetings, join the Operational Design Domain working group's meeting invite group. Being a member of this group will ensure you receive calendar invites for all working group meetings. However you do not need to be a member of this group to participate in meetings or working group activities.

  You can also look at the Autoware Foundation's events calendar for when the upcoming meetings will be held. If you use Google Calendar, you can subscribe to this calendar directly to have it displayed alongside your own calendar events. To do this, click the "+ Google Calendar" link in the bottom right corner of that site. Note that this will not add the events to your own calendar, meaning you may not receive notifications about meetings starting soon. For those not using Google Calendar, you can add the calendar to your own by downloading it as an ICS file and importing that into your calendar software.

  The Operational Design Domain working group may announce meetings on the ROS Discourse in the Autoware category. Keep an eye on that category for meeting announcements, then simply join the meeting to participate.

  Discussion

  Discussion for the Operational Design Domain working group happens in the following places.

  • #odd channel on the Autoware Discord
  • Technical discussion should be done in the GitLab issue tracker for the project and repository in question.
  • General discussion should be held on Gitlab Discussions or in the dedicated Autoware category at the ROS Discourse.
  • Note that the meeting invite group is not used for discussion. It is only used for managing event invitations. Discussion is disabled for this group.