Parking scenario#

In this scenario, the ego vehicle drives on the road to a parking lot and parks in a parking space. The sample map has one parking lot with five parking spaces.

Autoware uses two planning scenarios for this drive:

• The LaneDriving scenario follows the lanes of the road.
• The Parking scenario plans a free-space path inside the parking lot. The autoware_freespace_planner package makes this path with a hybrid A* search. The path can have forward and reverse parts.

The autoware_scenario_selector node selects the scenario. It switches to Parking when the ego vehicle is in the parking lot, the goal is not on a lane, and the ego vehicle has stopped in autonomous mode.

1. Launch Autoware#

Launch the planning simulator with the sample map, as described in Planning simulation.

2. Set an initial pose and a goal pose#

1. Set an initial pose on a lane near the parking lot. For the steps, see Lane driving scenario.
2. Click the 2D Goal Pose button in the toolbar, or press the G key.
3. In the 3D View pane, click and drag in one of the parking spaces to set the goal pose. The arrow sets the direction of the parked vehicle.

Autoware plans a route on the lanes to the parking lot.

3. Engage the ego vehicle#

Click the Auto button in the AutowareStatePanel. Then the drive goes through these stages:

1. The ego vehicle drives on the lanes into the parking lot, and then it stops.
2. The scenario changes from LaneDriving to Parking. The free-space planner plans a path into the parking space.
3. The ego vehicle maneuvers into the parking space. If the path has a reverse part, the ego vehicle stops and changes the gear before it reverses.

When the ego vehicle reaches the goal, the Routing state in the AutowareStatePanel changes to Arrived.