ODD Definition#
The page suggess the ODD use scenario for indoor environment (warehouse).
(in-progress).
| Category | Subcategory | Item | Units (If Applicable) | LSV - Outdoor | LSV - Indoor | comment |
|---|---|---|---|---|---|---|
| Physical Infrastructure | Roadway Types | Divided highway | Y/N | N | N | |
| **** | undivided highway | Y/N | N | N | ||
| **** | arterial | Y/N | N | N | ||
| **** | urban | Y/N | Y | N | ||
| **** | rural | Y/N | N | N | ||
| **** | parking | Y/N | Y | Y | ||
| **** | multi-lane | Number of Lanes | Up to 2 lanes | N | ||
| **** | single lane | Y/N | Y | N | ||
| **** | high-occupancy vehicle (HOV) lane | Y/N | N | N | ||
| **** | on/off ramps | Y/N | N | N | ||
| **** | emergency evacuation routes | Y/N | N | N | ||
| **** | one-way | Y/N | Y | N | ||
| **** | turn-only lanes | Y/N | Y | N | ||
| **** | private roads | Y/N | Y | Y | ||
| **** | reversible lanes | Y/N | N | N | ||
| **** | intersections (signaled) | Y/N | Y | N | Start lights, Yellow lights, yellow flag black flag, remote stop (electronically) |
|
| **** | intersections (not signaled) | Y/N | Y | Y | ||
| **** | Uturns | Y/N | Y | Y | ||
| **** | 4-way/2-way stop | Y/N | Y/N | Y/N | ||
| **** | roundabout | Y/N | Y | N | ||
| **** | merge lanes | Y/N | Y | N | ||
| **** | crosswalk | Y/N | Y | |||
| **** | toll plaza | Y/N | N | N | ||
| **** | railroad crossing | Y/N | N | N | ||
| **** | Racing circuit | Y/N | N | N | pit lanes | |
| **** | Roadway Surfaces | Asphalt | Y/N | Y | Y | Banks? |
| **** | concrete | Y/N | Y | Y | ||
| **** | mixed | Y/N | Y | Y | ||
| **** | grating | Y/N | Y | Y | ||
| **** | brick | Y/N | Y | N | ||
| **** | dirt | Y/N | N | N | ||
| **** | gravel | Y/N | N | N | ||
| **** | scraped road | Y/N | N | N | ||
| **** | partially occluded | Y/N | Y | Y | road surface can be occluded by other vehicles/obstacles in the environment | |
| **** | grass | Y/N | N | N | ||
| **** | speed bumps | Y/N | Y | Y | ||
| **** | potholes | Y/N | Y | Y | ||
| **** | maximum surface variance | mm | ±30mm (?) | N | ||
| **** | indoor flooring material | Y | ||||
| **** | Rubber | Y | ||||
| **** | Steel | Y | ||||
| **** | Others | na | N | |||
| **** | Roadway Edges | Line markers | Y/N | Y | N | |
| **** | temporary line markers | Y/N | N | N | ||
| **** | shoulder (paved or gravel) | Y/N | N | N | ||
| **** | shoulder (grass) | Y/N | N | N | ||
| **** | concrete barriers | Y/N | Y | N | ||
| **** | grating | Y/N | Y | Y | ||
| **** | rails | Y/N | N | N | ||
| **** | curb | Y/N | Y | N | issue for scale racing | |
| **** | cones | Y/N | Y | Y | cone defines edge | |
| **** | Roadway Geometry | Straightaways | Y/N | Y | Y | |
| **** | curves | Y/N | Y | Y | ||
| **** | curvature | minimum radius of curves | 1.5 m | Y | depends on race class | |
| **** | hills | Y/N | Y | Y | depends on race class | |
| **** | slope | Maximum slope in degrees | Y(up to 10°) | Y | ||
| **** | lateral slope | Maximum slope in degrees | 1.15 deg | Y | ||
| **** | corners [regular] | Y/N | Y | Y | ||
| **** | corners [blind corners] | Y/N | Y | Y | ||
| **** | negative obstacles | N | Y | source | ||
| **** | minimum lane width | m | 3.0 m | Y | depends on race class | |
| Operational Constraints | Speed Limit | Minimum speed limit [absolute] | kph | Indoors: 0 kph Outdoors: 0 kph |
N | |
| **** | Maximum speed limit [absolute] | kph | Indoors: 10kph Outdoors: 20kph |
10KMH | EV grand prix;$5K go-cart (UCSD, UH) 60 mph? | |
| **** | Minimum and maximum speed limit [relative to speed limit] | kph | n/a | |||
| **** | Minimum and maximum speed limit [relative to surrounding traffic] | kph | n/a | |||
| **** | Traffic Conditions | Minimal traffic | cars/m | ave. density 0 cars / m | Traffic Congestion Reference Source | |
| **** | normal traffic | cars/m | ave. density 1 car / 30m ave. speed 20kph |
|||
| **** | bumper-to-bumper/rush-hour traffic | Y/N | Y/N | N | ||
| **** | altered [accident] | Y/N | Y/N | Y | ||
| **** | altered [emergency vehicle] | Y/N | Y/N | N | safety car | |
| **** | altered [construction] | Y/N | N | Y | ||
| **** | altered [closed road] | Y/N | N | Y | ||
| **** | altered [special event] | Y/N | Y/N | Y | ||
| Objects | Signage | Signs (e.g., stop, yield, pedestrian, railroad, school zone, etc.) | Y/N | Stop Sign (Y/N) | Y | track itself (blocks) |
| **** | traffic signals (flashing, school zone, fire department zone, etc.) | Y/N | Normal Traffic Signal (Y/N) | N | small amount of signs | |
| **** | Crosswalks | Y/N | Y | Y | ||
| **** | Railroad crossing | Y/N | N | N | ||
| **** | Stopped buses | Y/N | Y/N | N | ||
| **** | Construction signage | Y/N | Y/N | Y | ||
| **** | First responder signals | Y/N | N | N | ||
| **** | Distress signals | Y/N | N | N | flags, hands | |
| **** | Roadway user signals | Y/N | N | Y | ||
| **** | Hand signals | Y/N | N | N | ||
| **** | Roadway User (See table at the bottom for the details) |
Vehicle types (cars, light trucks, large trucks, buses, motorcycles, wide-load, emergency vehicles, construction equipment, horse-drawn carriages/buggies) | Automated Cargo Vehicle Traction Vehicle, Forklift, Cutter General Vehicle Trucks Pedestrian Bicycle |
Utility Vehicle | ||
| **** | stopped vehicles | Y/N | Y | Y | ||
| **** | Moving vehicles (manual, autonomous) | Y/N | Y(Both Autonomous & Manual) | Y | ||
| **** | Pedestrians | Y/N | Y | Y | ||
| **** | Cyclists | Y/N | Y | Y | ||
| **** | Non-roadway User Obstacles/Objects | Animals (e.g., dogs, deer, etc.) | Y/N | Y/N | Y | |
| **** | Shopping carts | Y/N | N | Y | ||
| **** | Debris (e.g., pieces of tire, trash, ladders) | Y/N | Y | N | ||
| **** | Construction equipment | Y/N | Y/N | Y | ||
| **** | Others | Y/N | Hose roller shutter hand cart pole(D70mm) pallet (H120 x D800 × W1200mm) Rope (15mm in diameter) hanging near the roll-up shutter |
Goods, Boxes, | ||
| Environmental Conditions | Weather | Wind, | Maximum wind speed in m/s | < 13.8 m/s | N | source |
| **** | rain | Maximum rain volumetric rate in mm/h | < 10 mm/h | N | ideally upto 30mm/h Tier IV has tested with 10mm/h with lidar obstacle detection |
|
| **** | snow | Y/N | Y/N | N | ||
| **** | sleet | Y/N | N | N | ||
| **** | temperature | degree celcius | 10 - 50 | 10 - 50 | ||
| **** | humidity | perceptage | 100 % | |||
| **** | Weather-induced Roadway Conditions | dry | Y | Y | ||
| **** | wet surface | Y | Y | |||
| **** | standing water | Y | Y | |||
| **** | flooded roadways | N | N | |||
| **** | snow on roads | N | N | |||
| **** | icy roads | N | N | |||
| **** | Particulate Matter | Fog | Y/N | Y | N | |
| **** | Smoke | Y/N | N | N | ||
| **** | Smog | Y/N | N | N | ||
| **** | Dust/dirt | Y/N | N | N | ||
| **** | Mud | Y/N | N | N | ||
| **** | Minimum visibility | m | 30 m | Y | by driver claims | |
| **** | Illumination | Day sun overhead | Y/N | Y | N | |
| **** | Day sun back-lighting | Y/N | Y | N | ||
| **** | Day sun front-lighting | Y/N | Y | N | ||
| **** | Dawn | Y/N | Y | Y | ||
| **** | Dusk | Y/N | Y | Y | ||
| **** | Night | Y/N | Y | Y | ||
| **** | Street lights | Y/N | Y | Y | ||
| **** | Headlights (regular and high-beam) | Y/N | Y | Y | ||
| **** | Oncoming vehicle lights (overhead lighting | Y/N | Y | Y | ||
| **** | Backlighting | Y/N | Y | Y | ||
| **** | Front-lighting | Y/N | Y | Y | ||
| **** | mimimum luminance | lux (lm/m^2) | outdoor 10.8 (Twilight) indoor 400 |
10 lux | source | |
| **** | maximum luminance | lux (lm/m^2) | outdoor 107527 (Sunlight) indoor 500 |
100 lux | ||
| Connectivity | Vehicles | V2V communications (e.g., DSRC, Wi-Fi), | Y/N | Y/N | Y | CARMA(V2X) |
| **** | Emergency vehicles | Y/N | N | N | IAC(Emergency vehicle info to team) | |
| **** | Traffic Density Information | Crowdsourced data (e.g., Waze) | Y/N | N | Y | |
| **** | V2I | Y/N | Y (with traffic light, roller shutter) | Y | ||
| **** | Remote Fleet Management System |
A vehicle may be supported by an operations center that can perform remote operation. | Y/N | Y | Y | yellow flag / start engine etc. |
| **** | Infrastructure Sensors and communications | Work zone alerts | Y/N | Y/N | N | |
| **** | Vulnerable road user | Y/N | Y/N | N | ||
| **** | Routing and incident management | Y/N | Y/N | N | ||
| **** | GPS | Y/N | Y | N | RTK | |
| **** | 3-D high-definition maps | Y/N | Y | Y | IAC | |
| **** | Pothole locations | Y/N | N | Y | ||
| **** | Weather data | Y/N | N | N | ||
| **** | Data on the cloud | Y/N | N | Y | ||
| Zones | Geo-fencing | Central business districts | Y/N | N | N | |
| **** | School campuses | Y/N | N | N | ||
| **** | Retirement communities (for example, CityMobil2 is fixed route and includes < 20 mph (CityMobil2, 2013) routes both onroad and off-road on pedestrian walkways). | Y/N | N | N | ||
| **** | Traffic Management Zones | May include temporary lane closures | Y/N | Y/N | Y | |
| **** | Dynamic traffic signs | Y/N | N | N | ||
| **** | Variable speed limits | Y/N | N | N | speed, safety car | |
| **** | Temporary or non-existent lane markings | Y/N | Y/N | Y | ||
| **** | Human-directed traffic | Y/N | N | Y | ||
| **** | loading/unloading zones | Y/N | Y | Y | ||
| **** | School/Construction Zones | Dynamic speed limit | Y/N | N | N | |
| **** | Erratic pedestrian and vehicular behaviors | Y/N | Y/N | N | ||
| **** | Regions/States | Any legal/regulatory enforcement | na | N | ||
| **** | Tort | na | Y | liability | ||
| **** | other considerations (e.g., following distance, licensing, etc.) | na | N | |||
| **** | Interference Zones | Tunnels | Y/N | Y(Under Path) | N | in some tracks |
| **** | Parking garages | Y/N | Y | N | ||
| **** | Dense foliage | Y/N | Y | Y | potentially in some tracks | |
| **** | Limited GPS due to tall buildings | Y/N | Y (includes indoor) | Y | indoor, down town tracks | |
| **** | Atmospheric conditions | na | N | |||
| Safety Driver | Presence of Safety Driver | Human in Driver Seat Required | Y/N | Y | N | |
| **** | Awareness | Safety Driver Awareness of Vehicle Condition/Status Required |
Y/N | Y | N | |
| **** | Safety Driver Awareness of Static Obstacles Required |
Y/N | N | N | ||
| **** | Safety Driver Awareness of Dynamic Obstacles Required |
Y/N | Y | N | ||
| **** | Safety Driver Awareness of Other Passengers Required |
Y/N | N | N |