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feat(crosswalk): add option to slowdown at occluded crosswalks (autow…
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…arefoundation#6122)

Signed-off-by: Maxime CLEMENT <[email protected]>
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@maxime-clem @karishma1911
maxime-clem authored and karishma1911 committed Jun 3, 2024
1 parent 394adf2 commit 1ec5966
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6 changes: 2 additions & 4 deletions planning/behavior_velocity_crosswalk_module/CMakeLists.txt
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Expand Up @@ -6,10 +6,8 @@ autoware_package()
pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)

ament_auto_add_library(${PROJECT_NAME} SHARED
src/debug.cpp
src/manager.cpp
src/scene_crosswalk.cpp
src/util.cpp
DIRECTORY
src
)

ament_auto_package(INSTALL_TO_SHARE config)
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44 changes: 44 additions & 0 deletions planning/behavior_velocity_crosswalk_module/README.md
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Expand Up @@ -193,6 +193,50 @@ document.
| `max_slow_down_accel` | [m/ss] | double | minimum accel deceleration for safe brake |
| `no_relax_velocity` | [m/s] | double | if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |

### Occlusion

This feature makes ego slow down for a crosswalk that is occluded.

Occlusion of the crosswalk is determined using the occupancy grid.
An occlusion is a square of size `min_size` of occluded cells
(i.e., their values are between `free_space_max` and `occupied_min`)
of size `min_size`.
If an occlusion is found within range of the crosswalk,
then the velocity limit at the crosswalk is set to `slow_down_velocity` (or more to not break limits set by `max_slow_down_jerk` and `max_slow_down_accel`).
The range is calculated from the intersection between the ego path and the crosswalk and is equal to the time taken by ego to reach the crosswalk times the `occluded_object_velocity`.
This range is meant to be large when ego is far from the crosswalk and small when ego is close.

In order to avoid flickering decisions, a time buffer can be used such that the decision to add (or remove) the slow down is only taken
after an occlusion is detected (or not detected) for a consecutive time defined by the `time_buffer` parameter.

To ignore occlusions when the pedestrian light is red, `ignore_with_red_traffic_light` should be set to true.

To ignore temporary occlusions caused by moving objects,
`ignore_behind_predicted_objects` should be set to true.
By default, occlusions behind an object with velocity higher than `ignore_velocity_thresholds.default` are ignored.
This velocity threshold can be specified depending on the object type by specifying the object class label and velocity threshold in the parameter lists `ignore_velocity_thresholds.custom_labels` and `ignore_velocity_thresholds.custom_thresholds`.
To inflate the masking behind objects, their footprint can be made bigger using `extra_predicted_objects_size`.

<figure markdown>
![stuck_vehicle_attention_range](docs/with_occlusion.svg){width=600}
</figure>

| Parameter | Unit | Type | Description |
| ---------------------------------------------- | ----- | ----------- | ----------------------------------------------------------------------------------------------------------------------------------------------- |
| `enable` | [-] | bool | if true, ego will slow down around crosswalks that are occluded |
| `occluded_object_velocity` | [m/s] | double | assumed velocity of objects that may come out of the occluded space |
| `slow_down_velocity` | [m/s] | double | slow down velocity |
| `time_buffer` | [s] | double | consecutive time with/without an occlusion to add/remove the slowdown |
| `min_size` | [m] | double | minimum size of an occlusion (square side size) |
| `free_space_max` | [-] | double | maximum value of a free space cell in the occupancy grid |
| `occupied_min` | [-] | double | minimum value of an occupied cell in the occupancy grid |
| `ignore_with_red_traffic_light` | [-] | bool | if true, occlusions at crosswalks with traffic lights are ignored |
| `ignore_behind_predicted_objects` | [-] | bool | if true, occlusions behind predicted objects are ignored |
| `ignore_velocity_thresholds.default` | [m/s] | double | occlusions are only ignored behind objects with a higher or equal velocity |
| `ignore_velocity_thresholds.custom_labels` | [-] | string list | labels for which to define a non-default velocity threshold (see `autoware_auto_perception_msgs::msg::ObjectClassification` for all the labels) |
| `ignore_velocity_thresholds.custom_thresholds` | [-] | double list | velocities of the custom labels |
| `extra_predicted_objects_size` | [m] | double | extra size added to the objects for masking the occlusions |

### Others

In the `common` namespace, the following parameters are defined.
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17 changes: 17 additions & 0 deletions planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml
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bicycle: true # [-] whether to look and stop by BICYCLE objects
motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects

# param for occlusions
occlusion:
enable: true # if true, ego will slowdown around crosswalks that are occluded
occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
slow_down_velocity: 1.0 # [m/s]
time_buffer: 1.0 # [s] consecutive time with/without an occlusion to add/remove the slowdown
min_size: 0.5 # [m] minimum size of an occlusion (square side size)
free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid
occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid
ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored
ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored
ignore_velocity_thresholds:
default: 0.5 # [m/s] occlusions are only ignored behind objects with a higher or equal velocity
custom_labels: ["PEDESTRIAN"] # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels)
custom_thresholds: [0.0] # velocities of the custom labels
extra_predicted_objects_size: 0.5 # [m] extra size added to the objects for masking the occlusions
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