API WG Meeting Notes 07/10/2024

[Croquembouche]

Date: 2024-07-10

Administrative

• Previous meeting minutes
• API WG project board
• API WG Roadmap

Participants:

• Huei-Ru Tseng (ITRI)
• Wiliam He (UDel)
• Arpan Bhattacharjee (UDel)
• Daniel Shih (TIER IV/NTU)
• Ryohsuke Mitsudome (TSC Chair)
• Bonolo Mathibela (AUTOWARE)
• David Walmroth
• Brian Lin (ITRI)
• Isamu-takagi (TIER IV)
• Yu Asabe (TIER IV)
• Hidenaga Ushijima (TIER IV)
• Jaiden
• Pedro Rito
• Pedro Teixeira (IT/UA)
• Rojer
• Sudharsan Srikanthan
• Sujith (Interpl.ai)
• Ram (Interpl.ai)
• Mark (Interpl.ai
• Tanishq
• Venkat
• Christian John (SPC/TIER IV)
• Weilin Yao (Whaledynamic)
• Lingzi (Whaledynamic)
• Armagan (Leodrive)
• Heewon Kim (AWF korea)
• Shreekant Marwadi (Leidos)
• Yu Zhigang
• CY
• Ziri
• Will Martin
• Chang
• Samet Kutuk
• Jon Smet (Leidos)
• Mohannad Jooriah
• João Amaral (IT Aveiro)

Agenda

• IT Presentation
• Status Update

Notes

IT: SPaT message integration. (EU Standards ITS G5)
ITRI: Taiwan C-V2X based on IEEE 1609
UDel: NA C-V2X J2735

V2X Traffic Lights Integration Tasks List

Conflict of results? check Autoware guideline. Traffic Light Arbiter

V2X Object Detection Integration Tasks List

How to fuse the data with V2X?
IT: Broadcasting detected objects

Discussion

IT V2X integration with traffic light AWSIM Vanessa. The node compares the Ego-vehicle's location with what lanes are under control by the traffic light. If it is, the message is remapped to the traffic light topic.Visual Demo

Next Steps

Next Meeting

• IT Presentation
• UDel Presentation OpenIntersection
• ITRI Presentation

[pedrorito]

I couldn't participate in today's meeting, but I would like to add some remarks regarding João Amaral's (IT Aveiro) presentation and visual demo:

• Autoware (or other sources) connects with the CPS - Collective Perception System (following the ITS-G5 standard) and allows the broadcasting of perceived objects to other road actors (vehicles and infrastructure). Due to its microservice nature, CPS can evolve without modifications to Vanetza and/or Autoware.
• DENM (alert messages) received by the onboard unit (OBU) are parsed by an alert manager (another microservice) which requests an emergency stop into Autoware. This is shown in the last part of the video where the car stops and turns on the four-way flashers.
• The SPATEM/MAPEM messages received by the car follow a strategy (described in the minutes of this meeting) and applies it to Autoware by remapping ROS2 topics. Autoware is prepared to handle external information about traffic lights (for V2X). Unfortunately, the version used by AWSIM doesn't implement this feature, so we utilized the remapping method.
• As a next step, we will deploy this architecture of microservices, DDS, Vanetza, and Autoware to the PIXKIT, and demonstrate the integration with the Smart City of Aveiro (with communications and sensors).

Finally, an important note: Our extension of Vanetza is now publicly available in the following repository:
https://github.com/nap-it/vanetza-nap