This was the initial release of Autoware.Auto which specifically targeted the Autonomous Valet Parking Operational Design Domain.
- Vehicle Interface architecture
- AutonomouStuff Speed and Steering Control software interface
- LSGVL Simulator interface
- Vehicle control algorithms
- Model Predictive Control algorithm with Ackermann-style vehicle support
- Pure Pursuit control algorithm with Ackermann-style vehicle support
- Lidar-based perception pipeline
- Transform lidar scans between frames and filtering/cropping
- Fuse up to 7 lidar inputs
- Ray-based Ground Filtering algorithm
- Euclidean Clustering algorithm for object detection
- Scan downsampling
- Conversion to voxel-based scan representation
- HD-Map-based scan filtering
- Lidar-based localization pipeline
- NDT scan matching
- Point cloud loader and publisher
- Point cloud map generation
- HD-Map-based planning algorithms
- Lanelet2 support
- Map loader and server with query interface
- Global planner to plan route using HD Map
- Behavior planner to call individual sub-planners for different maneuvers
- Lane sub-planner
- Parking sub-planner
- Waypoint Record/Replay planning algorithm
- No HD Map required
- Hardware drivers
- Velodyne 3D lidar driver (from scratch)
- Xsens GNSS/IMU driver (from scratch)
- FLIR camera driver (based on Spinnaker SDK)
- Vehicle descriptions
- Lexus RX 450h
- Utilities
- Docker-based environment for both Autoware.Auto and LGSVL Simulator
- Template-based ROS package creation
- Common HAV algorithms and functions
- Demos for many individual features and the Autonomous Valet Parking ODD
- Joystick-based controller for vehicle interfaces