False positive of emergency stop while going downhill.

[Kim-mins]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Hi team,

I'm currently running Autoware in Carla, and I found a situation that Autoware makes false positive of emergency stop while going downhill.

Here's a video of the situation: [rviz]

At 0:20 of the video, there's an emergency stop once when started to drive down, and it makes the vehicle stop, and the vehicle does not drive at all.

• After multiple tests, I found that this issue occurs only when the ego vehicle is initialized near a downhill. Simply driving downhill does not trigger this issue.
• I also tried the solution of the similar issue here, but it did not work.
• For the stuck after an emergency stop, I guess this issue is the cause.
• The shape of drivable area seems weird, but I checked that the shape of the lane in my current map is correct. [map file]

Expected behavior

I hope the ego vehicle to drive downhill successfully.

Actual behavior

But the ego vehicle stuck in the middle of a downhill.

Steps to reproduce

Please replay the ros2bag file.

Versions

• OS: Ubuntu 22.04 (Docker), Ubuntu 20.04 (host)
• Autoware: 0.39.1
• Carla: 0.9.15
• autoware_carla_interface: link

Possible causes

No response

Additional context

No response

[takayuki5168]

@Kim-mins
Emergency stop of MRM occurred.
Please check the reason by following the below.
https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_diagnostic_graph_utils/doc/node/dump.md

[Kim-mins]

Thank you for the response and the suggestion for debugging @takayuki5168!!

I checked the log from diagnostic_graph_utils, and I observed that some warnings are there.

Here's a snapshot of the result

| No | Level | Path                                                          | Type              | Children                     |
|----|-------|---------------------------------------------------------------|-------------------|-------------------------------||----|-------|----------------------------------|------|----------||----|-------|---------------------------------------------------------------|-------------------|------------------------------|
|  1 | OK    | /autoware/modes/stop                                          | ok                |                              |
| 14 | WARN  | /autoware/modes/autonomous                                    | and               | 5 4 2 20 6 24 23             |
| 15 | OK    | /autoware/modes/local                                         | and               | 24 23 17                     |
| 16 | OK    | /autoware/modes/remote                                        | and               | 24 23 25                     |
| 17 | OK    | /autoware/modes/emergency_stop                                | and               | 24 23                        |
| 18 | WARN  | /autoware/modes/comfortable_stop                              | and               | 5 4 2 20 6 24 23             |
| 19 | WARN  | /autoware/modes/pull_over                                     | and               | 5 4 2 20 6 24 23             |
| 13 | OK    | /autoware/debug/tools                                         | and               | 55                           |
|  5 | OK    | /autoware/map                                                 | and               | 27 22                        |
|  4 | WARN  | /autoware/localization                                        | short-circuit-and | 23 3                         |
|  3 | WARN  |                                                               | and               | 24 25 21 28                  |
|  2 | OK    | /autoware/planning                                            | short-circuit-and | 29 1                         |
|  1 | OK    |                                                               | and               | 30 31 7                      |
|  7 | OK    | /autoware/planning/trajectory_validation                      | and               | 32 33 34 35 7 37 38 39 40 41 |
| 20 | OK    | /autoware/perception                                          | and               | 42 43                        |
|  6 | OK    | /autoware/control                                             | and               | 44 45 46 45 48 49 50         |
| 17 | OK    | /autoware/control/local                                       | and               | 51 52                        |
| 25 | OK    | /autoware/control/remote                                      | and               | 51 52                        |
| 24 | OK    | /autoware/vehicle                                             | and               | 53 54                        |
| 23 | OK    | /autoware/system                                              | and               | 56 57                        |
| 27 | OK    | /autoware/map/topic_rate_check/vector_map                     | diag              |                              |
| 22 | OK    | /autoware/map/topic_rate_check/pointcloud_map                 | diag              |                              |
| 23 | OK    | /autoware/localization/state                                  | diag              |                              |
| 24 | OK    | /autoware/localization/topic_rate_check/transform             | diag              |                              |
| 25 | OK    | /autoware/localization/topic_rate_check/pose_twist_fusion     | diag              |                              |
| 22 | OK    | /autoware/localization/scan_matching_status                   | diag              |                              |
| 21 | OK    | /autoware/localization/accuracy                               | diag              |                              |
| 28 | WARN  | /autoware/localization/sensor_fusion_status                   | diag              |                              |
| 29 | OK    | /autoware/planning/routing/state                              | diag              |                              |
| 30 | OK    | /autoware/planning/topic_rate_check/route                     | diag              |                              |
| 31 | OK    | /autoware/planning/topic_rate_check/trajectory                | diag              |                              |
| 32 | OK    | /autoware/planning/trajectory_validation/finite               | diag              |                              |
| 33 | OK    | /autoware/planning/trajectory_validation/interval             | diag              |                              |
| 34 | OK    | /autoware/planning/trajectory_validation/curvature            | diag              |                              |
| 35 | OK    | /autoware/planning/trajectory_validation/angle                | diag              |                              |
|  7 | OK    | /autoware/planning/trajectory_validation/lateral_acceleration | diag              |                              |
| 37 | OK    | /autoware/planning/trajectory_validation/acceleration         | diag              |                              |
| 38 | OK    | /autoware/planning/trajectory_validation/deceleration         | diag              |                              |
| 39 | OK    | /autoware/planning/trajectory_validation/steering             | diag              |                              |
| 40 | OK    | /autoware/planning/trajectory_validation/steering_rate        | diag              |                              |
| 41 | OK    | /autoware/planning/trajectory_validation/velocity_deviation   | diag              |                              |
| 42 | OK    | /autoware/perception/topic_rate_check/objects                 | diag              |                              |
| 43 | OK    | /autoware/perception/topic_rate_check/pointcloud              | diag              |                              |
| 44 | OK    | /autoware/control/topic_rate_check/trajectory_follower        | diag              |                              |
| 45 | OK    | /autoware/control/topic_rate_check/control_command            | diag              |                              |
| 46 | OK    | /autoware/control/node_alive_monitoring/vehicle_cmd_gate      | diag              |                              |
| 45 | OK    | /autoware/control/emergency_braking                           | diag              |                              |
| 48 | OK    | /autoware/control/performance_monitoring/lane_departure       | diag              |                              |
| 49 | OK    | /autoware/control/performance_monitoring/trajectory_deviation | diag              |                              |
| 50 | OK    | /autoware/control/performance_monitoring/control_state        | diag              |                              |
| 51 | OK    | /autoware/control/topic_rate_check/external_cmd_selector      | diag              |                              |
| 52 | OK    | /autoware/control/topic_rate_check/external_cmd_converter     | diag              |                              |
| 53 | OK    | /autoware/vehicle/topic_rate_check/velocity                   | diag              |                              |
| 54 | OK    | /autoware/vehicle/topic_rate_check/steering                   | diag              |                              |
| 55 | OK    | /autoware/system/service_log_checker                          | diag              |                              |
| 56 | OK    | /autoware/system/topic_rate_check/emergency_control_command   | diag              |                              |
| 57 | OK    | /autoware/system/emergency_stop_operation                     | diag              |                              |

It seems that /autoware/localization/sensor_fusion_status has an issue, but even after removing that diagnostic, the vehicle still cannot drive at all.. Could you please share your idea?

Thank you!

[takayuki5168]

@Kim-mins
If the MRM still happened after you removed the diagnostic, what was the result of the diagnostic_graph_utils's log?