ADL test scenarios repository

This repository contains test scenarios for running with SVL simulation and Apollo

SVL scenarios json

• contains SVL scenarios to run with VSE and a howto

SVL scenarios py

• contains SVL scenarios to run with Python API and a howto

Test Cases

Overview what is covered in the full lap test scenarios:

Test case	Covered in scenario	Not covered
The start of the scenario is in the Delta driveway	VSE (json): garage-to-pocket UT Lexus no NPC
The start of the scenario is in the Delta pocket	VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The destination of the scenario is in the Delta pocket	VSE (json): garage-to-pocket UT Lexus no NPC VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The ego vehicle starts driving from the Delta pocket	VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The vehicle is positioned correctly in the lane and keeps the first lane	VSE (json): garage-to-pocket UT Lexus no NPC VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The vehicle handles the speed regulations correctly	VSE (json): garage-to-pocket UT Lexus no NPC VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The vehicle handles the traffic lights correctly	VSE (json): garage-to-pocket UT Lexus no NPC VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The vehicle keeps safe distance with a vehicle ahead	VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The vehicle performs all turns along the route correctly	VSE (json): garage-to-pocket UT Lexus no NPC VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The vehicle drives one full lap following the first lane	VSE (json): garage-to-pocket UT Lexus no NPC VSE (json): pocket-to-pocket UT Lexus NPC vehicles
The vehicle finishes the lap by pulling over to the Delta pocket and stops there	VSE (json): garage-to-pocket UT Lexus no NPC VSE (json): pocket-to-pocket UT Lexus NPC vehicles
Pedestrian related test cases		✅

Known Issues

SVL sim v2021.3 + Apollo 6

1. NPC behaviour is buggy and is waiting for next release. Currently not suggesting to use at least the pedestrians.
2. Sometimes NPC-s are not in exactly the same places when running the sim multiple times in a row. Depending on how much time it takes for the Apollo to start, NPC-s may have moved less or more. It is better with waypoint behavior but not perfect.
3. Sometimes the ego vehicle drives into the NPC vehicle and the other way around (the two meshes visually overlap in the sim). Happens even when the NPC is detected and the ego vehicle reduces speed because of it. The collision event is still expected to be registered and visible under the SVL web UI Test Results.
4. Sometimes NPC vehicles perform maneuvers chunkily. Can be smoothed out by placing the NPC waypoints very close together to create a smoother turning curve or use already smoother turning curve. But it is still not perfect.
5. The blinker is not visible in the sim.
6. Traffic lights not working in Apollo, use Apollo Modular Testing instead.
7. The sim behaviour is not fully deterministic. If something does not work, restart the sim or Apollo or both and retry.