Competition

Competition outline

This competition is an online simulator that competes for circuit driving time by autonomous vehicles.

Rules for the entire competition

• You will be asked to create source code that can run through scenarios that utilize the open source simulator (LGSVL) that can be used with Autoware.
• The scenario is a time attack competition in which the time to run one lap of the circuit course is competed.
• Participants will create the source code so that they can clear the given scenario, and first verify it in the local environment.
• By uploading the source code to the online environment, the simulation will be performed online and the time will come out. The ranking is determined based on the time of the simulation result of the last uploaded source code. (For example, if the result of the first upload is 5 minutes, the second is 3 minutes, the third is 4 minutes, the last submitted 4 minutes will be adopted .)

Explanation about driving environment / scenario

Driving environment

• Driving of the circuit course (total length about 4km) once.

Self-driving vehicle

• Using racing cars for vehicles that drive autonomously.
• It can run at a maximum speed of about 160km / h .

scenario

• A total of 6 NPC vehicles and 1 own vehicle will go around the course.
• Checkpoints in the above images (1) to (3) are set up on the course. When the vehicle passes all the checkpoints in order from ① to ③, it is judged that the goal has been reached.
• Checkpoints are defined like a Cube as shown in the image above.
• When the checkpoint and the vehicle overlap even a little, it is judged that the checkpoint has been passed.
• Start position in the previous 3 column units, two back row + is the placement of the vehicle. Your vehicle starts at the rearmost position on the outside of the back row .
• The movement of NPC vehicles is fixed and is set to run only along the inside, center, or outside of the course, respectively.
• In order to reach the goal faster, please drive while overtaking other vehicles.

Other rules

• The time limit is 5 minutes. If it exceeds 5 minutes, you will be disqualified.
• If you go off course, a penalty will be added to the final score for the time you were off course.
  - The range of Lanelet is defined as a course.
  - When the base_link position of the vehicle is out of the Lanelet, it is judged to be off course.
• In the event of a collision with another vehicle, a penalty of 5 seconds will be added for each collision.
• The route and speed settings of NPC vehicles differ between local simulation and online simulation.

schedule

Entry closed.

The competition progress after entry will be developed on github.
You need a team leader github account.

Recommended application and hardware specifications

The following the recommended specifications of applications and hardware.

In case where the above specifications are not available, you may be able to use two PCs (one for LGSVL Simulator and the other is for Autoware).Recommended specifications are as follows:

Property rights of the code and disclaimers
The rights to the code uploaded to the competition system belong to the code developer. The Society of Automotive Engineers of Japan and its subcontractors will use the electromagnetically submitted data (code) only for the purpose of scoring competition tasks and verifying the results, and the developer shall license the use. In addition, it shall be destroyed as soon as the above purpose is completed. The developer agrees in advance that the code submitted by himself / herself will be deleted by the Society of Automotive Engineers of Japan and its subcontractors after the competition, and shall not object to this. While The Society of Automotive Engineers of Japan and its outsourced companies (including subcontractors such as cloud environments) handle the data (code) submitted electromagnetically with the duty of care of a good manager, we will not be liable for any damages caused due to theft, hacking or other force majeure (excluding those caused by the intention or negligence of the Society and its contractors).