diff --git a/source/content/appendix.tex b/source/content/appendix.tex index d24c8a4..a2da39e 100644 --- a/source/content/appendix.tex +++ b/source/content/appendix.tex @@ -102,6 +102,13 @@ \subsubsection{with Priority to Right} \end{center} \end{figure} +\subsection{Intersection with three Entries and Exits, Mandatory Turn and Give-Way Line} +\label{fig_intersection_threeway} +\begin{figure}[H] + \begin{center} + \centering\includegraphics[scale=0.875]{graphics/Abb_26_intersection_three_entries_exits.pdf} + \end{center} +\end{figure} \subsection{Dynamic Obstacles at Intersections} \label{fig_intersection_give_way} diff --git a/source/content/events.tex b/source/content/events.tex index 1aadb15..7086521 100644 --- a/source/content/events.tex +++ b/source/content/events.tex @@ -53,7 +53,7 @@ \subsection{Attempts} \item The vehicle has not been placed in the start box when the gate opens. \item The gate is damaged or forced open by a vehicle. \item The vehicle fails to leave the box while the gate is open. - \item RC mode is actively used inside the start box. + \item RC-mode is actively used inside the start box. \end{itemize} The affected team is granted a second attempt after all other teams have completed their first attempt. diff --git a/source/content/freedrive_course.tex b/source/content/freedrive_course.tex index 63ce8f6..4b25d01 100644 --- a/source/content/freedrive_course.tex +++ b/source/content/freedrive_course.tex @@ -1,4 +1,5 @@ \section{Free Drive Course} +\label{freedrive_course} The "Free Drive Course" focuses on the speed and maneuverability of the vehicle. @@ -47,8 +48,10 @@ \subsection{Scoring} \subsubsection{Timing} -Each team will be given 2 minutes to complete this event. +Each team has a \textbf{2 minute time limit} to complete this event. Timing starts with the opening of the start box gate (cf. Section \ref{start_box}). +\HighlightNew{After the 2 minutes have passed, the vehicle must be brought to an immediate and complete stop by switching to RC-mode. +The vehicle must remain stationary until the commission signals that it may be removed from the track.} \subsubsection{Penalties} \label{freedrive_penalties} diff --git a/source/content/navigation_course.tex b/source/content/navigation_course.tex index 55a99a5..ff841d4 100644 --- a/source/content/navigation_course.tex +++ b/source/content/navigation_course.tex @@ -10,7 +10,7 @@ \subsection{Scenario} All track elements of the Obstacle Evasion Course (cf. Section \ref{elements_obstacle_evasion}) can appear. In addition, landmarks (cf. Section \ref{landmarks}) will be placed on the track. Neither pedestrians nor static or dynamic obstacles will be present. -The track might include areas where a speed limit is enforced (cf. Section \ref{speed_limits}). +The track might include areas where a speed limit is enforced (cf. Section \ref{speed_limit}). In this event, regulations announced by regular traffic signs and mandatory turning directions at intersections can be ignored. @@ -26,7 +26,7 @@ \subsubsection{Landmarks} % The QR codes will encode a unique identifier for each landmark. % The identifiers will be in ascending order, starting with 1. -During the event the vehicle has to navigate to the landmarks in the given order (cf Section \ref{landmark}). +During the event the vehicle has to navigate to the landmarks in the given order (cf Section \ref{landmarks}). % A maximum of 10 landmarks will be placed on the track. The exact number of landmarks will not be announced before the event. @@ -36,20 +36,19 @@ \subsection{Event Excecution} \subsubsection{Second Attempt} -When an attempt is canceled -Any information about the track and the landmarks gathered during the first attempt may not be used in the second attempt and needs to be discarded. +When an attempt is canceled any information about the track and the landmarks gathered during the first attempt may not be used in the second attempt and needs to be discarded. \subsubsection{Mapping Phase} The mapping phase will start when the start box gate is opened for the first time. -The vehicle will be given 3 minutes to freely drive around the track and map the environment. +The vehicle will be given a \textbf{3 minute time limit} to freely drive around the track and map the environment. Landmarks will be placed at random locations on the track. Information gathered during the mapping phase can later be used in the navigation phase. The end of the mapping phase will be signaled by the start scheduling system (cf. Section \ref{start_scheduling}). \HighlightNew{The vehicle must be brought to an immediate and complete stop by switching to RC-mode}. After the mapping phase the vehicle must be placed back into the start box. -A button on the vehicle may be used to change the mode from mapping to navigation, it follows the same regulations as the buttons for the dynamic events (cf. Section \ref{handling_vehicle}). +A button on the vehicle may be used to change the mode from mapping to navigation, it follows the same regulations as the buttons for the dynamic events (cf. Section \ref{event_selection}). No further modifications or adjustments to the vehicle are allowed. \subsubsection{Navigation Phase} @@ -58,7 +57,7 @@ \subsubsection{Navigation Phase} The goal is to navigate between the landmarks in the correct order, covering the shortest distance possible. The order is given by the unique identifier in the QR codes of the landmarks (cf. Section \ref{landmarks}). -Landmarks do not have to be visited strictly in this order (e.g. 1-2-3), but can be passed multiple times or in between (e.g. 3-1-2-2-1-3). +Landmarks do not have to be visited strictly in this order (e.g. 0-1-2), but can be passed multiple times or in between (e.g. 2-0-1-1-0-2). However, a pass is only counted if the previously required landmarks have already been visited. A landmark is considered visited the moment the vehicle has fully passed both landmark signs. @@ -66,7 +65,7 @@ \subsubsection{Navigation Phase} The vehicle may pass the landmark from either direction. The navigation phase ends after the vehicle has visited all landmarks in the correct order. -Each team will be given a maximum of 3 minutes to complete the navigation phase. +Each team will be given a \textbf{time limit of 3 minutes} to complete the navigation phase. \HighlightNew{After the 3 minutes have passed, the vehicle must be brought to an immediate and complete stop by switching to RC-mode. The vehicle must remain stationary until the commission signals that it may be removed from the track.} diff --git a/source/content/obstacle_course.tex b/source/content/obstacle_course.tex index ba24f38..9a27d7c 100644 --- a/source/content/obstacle_course.tex +++ b/source/content/obstacle_course.tex @@ -1,6 +1,7 @@ \newpage \section{Obstacle Evasion Course} +\label{obstacle_course} The "Obstacle Evasion Course" tests the vehicle's advanced driving capabilities and decision-making in complex traffic scenarios. @@ -66,11 +67,6 @@ \subsubsection{No-Passing Zones} In a no-passing zone, the dynamic obstacle must be followed with a distance of at least 300 mm until the end of the zone. -\subsubsection{Two-lane Expressway} - -Sections of the rural scenario, can be defined as an expressway. -Since the track is assumed to be a two-lane expressway, the vehicles must stay in the right lane all the time. \HighlightFix{Ref Issue} - \subsubsection{Barred Area} A barred area may not be entered by the vehicle. @@ -85,7 +81,7 @@ \subsubsection{Barred Area} \subsubsection{Crosswalk} -In a suburban area, one or more crosswalks may be present. +One or more crosswalks may be present on the track with an unknown number of pedestrians. If at least one pedestrian is present in the defined zones, the vehicle must stop in front of the crosswalk. Stopping must be performed with the same regulations as at intersections. Pedestrians start crossing only after the vehicle has stopped. @@ -111,7 +107,7 @@ \subsubsection{Parking} Penalties may apply until the vehicle is driving with a positive speed along the route while touching the right lane with at least 3 wheels. Leaving the outer boundaries of the parking area is penalized the same as leaving the right lane while driving. -The speed in the parking lot is limited to the speed on the adjacent road. Collisions with obstacles during the parking maneuver will be penalized. +The speed in the parking lot is limited to the speed on the adjacent road. Collisions with obstacles during the parking maneuver will \HighlightNew{invalidate the parking attempt.} Vehicles may move forward or backward into the parking space. The left lane of the track may only be crossed during the actual parking maneuver. @@ -119,6 +115,7 @@ \subsubsection{Parking} \subsection{RC-Mode} +\HighlightNew{Before switching back to autonomous mode, the vehicle must be repositioned on the track within 1 m of the point at which it left the track.} Skipping challenges of the obstacle course (by not driving in the right lane) will be punished with the \HighlightNew{neutral} penalty designated for the respective element. \HighlightNew{Each obstacle course element may be evaluated only once per round. @@ -136,6 +133,8 @@ \subsection{Scoring}{ Each team will start the event with a fixed number of base points. The base points are predetermined by the commission and will depend on the length of the track and the number of occuring elements. + \HighlightNew{Additional base points can be awarded for each successful lap. + A lap is considered successful after the vehicle has passed the starting line without skipping any elements or sections of the track (i.e. by leaving the right lane).} The total distance covered by the vehicle will have no influence on the scoring. \subsubsection{Timing} @@ -147,7 +146,7 @@ \subsection{Scoring}{ The vehicle must remain stationary until the commission signals that it may be removed from the track.} \subsubsection{Evaluation} - When the vehicle passes one of the elements described in section \ref{elements_obstacle_evasion} and \ref{elements_suburban_scenario}, it will receive either a positive, neutral or negative evaluation. + When the vehicle passes one of the elements described in section \ref{track_layout} and \ref{obstacle_scoring_guidelines}, it will receive either a positive, neutral or negative evaluation. Any time the vehicle complies with all the requirements of a certain element, it will receive a positive evaluation and gain points. If the vehicle fails to comply with any of the requirements, it will generally receive a neutral evaluation and no points will be awarded. @@ -156,9 +155,9 @@ \subsection{Scoring}{ The following section \ref{obstacle_scoring_guidelines} provides an overview of the scoring guidelines for each element. The bottom row of each table shows the amount of points that will be awarded or deducted for each evaluation. - The final score of each team will be the sum of the base points and the points gained or lost during the event. + The final score of each team will be the sum of the base points and the points gained or lost during the event. Only after a vehicle has completed at least one full lap will the attempt be valid and any points awarded. - In case the vehicle has left the track or skipped certain parts of it, the commission will decide whether the attempt was valid. + In case the vehicle has left the track or skipped certain parts of it, the commission will decide whether the attempt was valid. \newpage diff --git a/source/content/track_layout.tex b/source/content/track_layout.tex index 88778ac..62f5467 100644 --- a/source/content/track_layout.tex +++ b/source/content/track_layout.tex @@ -1,4 +1,5 @@ \chapter{Track Layout} +\label{track_layout} This chapter provides a general definition of the track layout and details all track elements that can appear during the CAuDri Challenge. The specific events descriptions in Chapter \ref{events} describe which of these track elements can be present in the respective event. @@ -94,7 +95,7 @@ \section{Obstacles} Obstacles are represented by white cardboard boxes measuring 100 mm to 400 mm in width, 100 mm to 240 mm in height, and at least 100 mm in length (cf. Section \ref{fig_obstacle_dimensions}). Obstacles can be positioned in the right lane, the left lane, or outside the track boundaries and in conjunction with other elements. Along the track, there is a minimum spacing of 1000 mm between distinct obstacles. -A blockage of both lanes will not occur, except for no-passing zones and barred areas (cf. Sections \ref{no_passing_zones} and \ref{barred_area}). +\HighlightFix{A blockage of both lanes will not occur, except for no-passing zones and barred areas} (cf. Sections \ref{no_passing_zones} and \ref{barred_area}). \subsection{Static Obstacles} \label{static_obstacle} @@ -107,9 +108,11 @@ \subsection{Static Obstacles} \subsection{Dynamic Obstacles} \label{dynamic_obstacle} -Dynamic obstacles move at a constant speed of 0.6 m/s. +Dynamic obstacles move at a speed of up to 0.6 m/s. \HighlightNew{They may appear on either the left or the right lane.} They do not execute lane changes or passing maneuvers and can stop temporarily, potentially blocking the right lane. -A dynamic obstacle will not block the left lane if a static obstacle is blocking the right lane. +\HighlightNew{A dynamic obstacle may temporarily block the left lane when a static obstacle is blocking the right lane. +Conversely, a static obstacle may block the left lane while a dynamic obstacle is driving in the right lane, resulting in a temporary blockage of both lanes. +Passing dynamic obstacles is prohibited in intersections, no-passing zones, barred areas, and crosswalks.} \section{Intersection} \label{intersection} @@ -117,7 +120,9 @@ \section{Intersection} Sections of the track can intersect with other track sections at angles between 70° and 90°. An intersection consists of three or four entries and exits. The lane boundaries at the corners can be connected via rounded transitions with a radius of approximately 100 mm. -A maximum of one dynamic obstacle can be present at an intersection at any given time. Scenarios resulting in ambiguous right-of-way regulations will not be encountered. +A maximum of one dynamic obstacle can be present at an intersection at any given time. +\HighlightNew{The dynamic obstacle may proceed straight, turn left, or turn right, and shall comply with the intersections priority regulations, such as priority-to-the-right, give-way, or stop signs.} +Scenarios resulting in ambiguous right-of-way regulations will not be encountered. Intersections exist in three variations: @@ -188,7 +193,7 @@ \section{Parking} A parking zone is a planar, straight section of the track with a dashed center line and no missing lane markings (cf. Section \ref{fig_parking_lot}). Additional track elements (intersections, crosswalks and others) are not present. Static obstacles are used to represent other parked vehicles and can be fixed to the ground. -Dynamic obstacles do not occur in parking zones. +\HighlightFix{Dynamic obstacles do not occur in parking zones.} \subsection{Parallel Parking} \label{parallel_parking} @@ -251,6 +256,7 @@ \section{No-Passing Zone} Static obstacles are not placed in the right lane of a no-passing zone. However, dynamic obstacles can still be present. A combination of a dynamic obstacle in the right lane and a static obstacle in the left lane can occur, temporarily blocking both lanes. + \HighlightNew{After the no-passing zone no other element can occure for 2000 mm.} \end{minipage} \hfill \begin{minipage}[t]{0.12\textwidth} @@ -272,6 +278,7 @@ \section{Barred Area} Oncoming traffic in the unobstructed lane has the right of way, as indicated by a corresponding traffic sign (cf. Section \ref{fig_traffic_signs}). A maximum of one dynamic obstacle can be present at a barred area at any given time. + \end{minipage} \hfill \begin{minipage}[t]{0.12\textwidth} @@ -312,7 +319,8 @@ \section{Two-lane Expressway} Any distinctive curves within this track element will be marked by guide signs as described in Section \ref{traffic_signs}. The start and end of the expressway are indicated by specific traffic signs. Vehicles on the expressway have the right of way, no stop lines will be encountered. -No obstacles will be present in the right lane throughout this track element. +No \HighlightNew{static} obstacles will be present in the right lane throughout this track element. +\HighlightNew{Dynamic obstacles can occure on both lanes of the expressway.} \section{Speed Limit} @@ -337,8 +345,8 @@ \section{Speed Limit} \end{minipage} -\section{Landmark} -\label{landmark} +\section{Landmarks} +\label{landmarks} Landmarks are additional signs that serve as navigation points for the vehicle. They can appear at any location where their position is not obstructed by other road elements or obstacles. diff --git a/source/content/vehicle_requirements.tex b/source/content/vehicle_requirements.tex index f29bf79..641c418 100644 --- a/source/content/vehicle_requirements.tex +++ b/source/content/vehicle_requirements.tex @@ -163,6 +163,8 @@ \section{Development Know-How} Ready-made solutions may never be included in the vehicle. This particularly concerns the use of predesigned algorithms which may be part of a hardware platform and serve the purpose of providing a fully functional system for perception, behavior generation or control for automated vehicles or robots. +Publicly available or open-source software libraries are generally allowed, as long as they do not provide a complete solution for automated driving. +The teams must be able to explain and document all parts of their vehicle and its software. The final decision on acceptable components is taken by the commission. The teams are encouraged to contact the commission early in case of doubts or questions about a particular component. diff --git a/source/graphics/Abb_25_example_navigation_circuit.pdf b/source/graphics/Abb_25_example_navigation_circuit.pdf index 0a6a9e3..57bd7c2 100644 Binary files a/source/graphics/Abb_25_example_navigation_circuit.pdf and b/source/graphics/Abb_25_example_navigation_circuit.pdf differ diff --git a/source/graphics/Abb_26_intersection_three_entries_exits.pdf b/source/graphics/Abb_26_intersection_three_entries_exits.pdf new file mode 100644 index 0000000..14f6636 Binary files /dev/null and b/source/graphics/Abb_26_intersection_three_entries_exits.pdf differ