From b50be764537574a35d878fe833e7a5cd7dbdc767 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 27 Nov 2023 11:43:00 +0900 Subject: [PATCH] docs(behavior_path_planner): update main documentation (#5519) * docs(behavior_path_planner): update main documentation Signed-off-by: Zulfaqar Azmi * place image in note Signed-off-by: Zulfaqar Azmi * Add path shifter explanation Signed-off-by: Zulfaqar Azmi * Update input output and debug Signed-off-by: Zulfaqar Azmi * fix introduction Signed-off-by: Zulfaqar Azmi * enchance drivable area expansion explanation Signed-off-by: Zulfaqar Azmi * fix type in the debug subsection * include safety check Signed-off-by: Zulfaqar Azmi * add parameter folder structure Signed-off-by: Zulfaqar Azmi * Enabling and disabling module Signed-off-by: Zulfaqar Azmi * fix limitation Signed-off-by: Zulfaqar Azmi * Update based on feedback Signed-off-by: Zulfaqar Azmi * Rerouting subsection Signed-off-by: Zulfaqar Azmi * minor fixes Signed-off-by: Zulfaqar Azmi * fix some minor point Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_planner/README.md | 346 +++++++++++------- .../image/behavior_modules.png | Bin 134367 -> 0 bytes .../image/behavior_path_planner_bt_config.png | Bin 179116 -> 0 bytes .../image/checking_module_transition.png | Bin 0 -> 46021 bytes .../static_drivable_area_after_expansion.png | Bin 0 -> 151054 bytes .../static_drivable_area_before_expansion.png | Bin 0 -> 146681 bytes .../image/supported_module_avoidance.svg | 58 +++ ...ported_module_avoidance_by_lane_change.svg | 58 +++ .../image/supported_module_goal_planner.svg | 57 +++ .../image/supported_module_lane_change.svg | 48 +++ .../image/supported_module_lane_following.svg | 48 +++ .../image/supported_module_start_planner.svg | 48 +++ 12 files changed, 537 insertions(+), 126 deletions(-) delete mode 100644 planning/behavior_path_planner/image/behavior_modules.png delete mode 100644 planning/behavior_path_planner/image/behavior_path_planner_bt_config.png create mode 100644 planning/behavior_path_planner/image/checking_module_transition.png create mode 100644 planning/behavior_path_planner/image/static_drivable_area_after_expansion.png create mode 100644 planning/behavior_path_planner/image/static_drivable_area_before_expansion.png create mode 100644 planning/behavior_path_planner/image/supported_module_avoidance.svg create mode 100644 planning/behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg create mode 100644 planning/behavior_path_planner/image/supported_module_goal_planner.svg create mode 100644 planning/behavior_path_planner/image/supported_module_lane_change.svg create mode 100644 planning/behavior_path_planner/image/supported_module_lane_following.svg create mode 100644 planning/behavior_path_planner/image/supported_module_start_planner.svg diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index 0c0c7c806c119..884767315ac12 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -1,190 +1,284 @@ # Behavior Path Planner -## Purpose / Use cases +The Behavior Path Planner's main objective is to significantly enhance the safety of autonomous vehicles by minimizing the risk of accidents. It improves driving efficiency through time conservation and underpins reliability with its rule-based approach. Additionally, it allows users to integrate their own custom behavior modules or use it with different types of vehicles, such as cars, buses, and delivery robots, as well as in various environments, from busy urban streets to open highways. -The `behavior_path_planner` module is responsible to generate +The module begins by thoroughly analyzing the ego vehicle's current situation, including its position, speed, and surrounding environment. This analysis leads to essential driving decisions about lane changes or stopping and subsequently generates a path that is both safe and efficient. It considers road geometry, traffic rules, and dynamic conditions while also incorporating obstacle avoidance to respond to static and dynamic obstacles such as other vehicles, pedestrians, or unexpected roadblocks, ensuring safe navigation. -1. **path** based on the traffic situation, -2. **drivable area** that the vehicle can move (defined in the path msg), -3. **turn signal** command to be sent to the vehicle interface. +Moreover, the planner actively interacts with other traffic participants, predicting their actions and accordingly adjusting the vehicle's path. This ensures not only the safety of the autonomous vehicle but also contributes to smooth traffic flow. Its adherence to traffic laws, including speed limits and traffic signals, further guarantees lawful and predictable driving behavior. The planner is also designed to minimize sudden or abrupt maneuvers, aiming for a comfortable and natural driving experience. -## Design +!!! note -### Scene modules design + The [Planning Component Design](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/) Document outlines the foundational philosophy guiding the design and future development of the Behavior Path Planner module. We strongly encourage readers to consult this document to understand the rationale behind its current configuration and the direction of its ongoing development. -#### Support modules +## Purpose / Use Cases -Behavior path planner has following scene modules. +Essentially, the module has three primary responsibilities: -| Name | Description | Details | -| :------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------- | -| Lane Following | this module generates reference path from lanelet centerline. | LINK | -| Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](./docs/behavior_path_planner_avoidance_design.md) | -| Avoidance By LC | this module generates lane change path when there is objects that should be avoid. | [LINK](./docs/behavior_path_planner_avoidance_by_lane_change_design.md) | -| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](./docs/behavior_path_planner_lane_change_design.md) | -| External Lane Change | WIP | LINK | -| Goal Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](./docs/behavior_path_planner_goal_planner_design.md) | -| Pull Out | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md) | -| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](./docs/behavior_path_planner_side_shift_design.md) | +1. Creating a **path based** on the traffic situation. +2. Generating **drivable area**, i.e. the area within which the vehicle can maneuver. +3. Generating **turn signal** commands to be relayed to the vehicle interface. -![behavior_modules](./image/behavior_modules.png) +## Features -All scene modules are implemented by inheriting base class `scene_module_interface.hpp`. +### Supported Scene Modules -#### How to implement new module? +Behavior Path Planner has following scene modules -WIP +| Name | Description | Details | +| :----------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------- | +| Lane Following | this module generates reference path from lanelet centerline. | LINK | +| Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](./docs/behavior_path_planner_avoidance_design.md) | +| Dynamic Avoidance | WIP | LINK | +| Avoidance By Lane Change | this module generates lane change path when there is objects that should be avoid. | [LINK](./docs/behavior_path_planner_avoidance_by_lane_change_design.md) | +| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](./docs/behavior_path_planner_lane_change_design.md) | +| External Lane Change | WIP | LINK | +| Start Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](./docs/behavior_path_planner_goal_planner_design.md) | +| Goal Planner | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md) | +| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](./docs/behavior_path_planner_side_shift_design.md) | ---- +!!! Note -### Manager design + click on the following images to view the video of their execution -The role of manager is to launch the appropriate scene module according to the situation. (e.g. if there is parked-vehicle in ego's driving lane, the manager launches the avoidance module.) +
+ + + + + + + + + + + +
Lane Following ModuleAvoidance ModuleAvoidance by Lane Change Module
Lane Change ModuleStart Planner ModuleGoal Planner Module
+
-Now, it is able to select two managers with different architecture. +!!! Note -| Name | Description | Details | -| :------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------------------------------------------- | -| Behavior Tree based manager (default) | this manager launches scene modules based on Behavior Tree. all scene modules run exclusively. | LINK(WIP) | -| BT-free manager (unstable) | this manager is developed in order to achieve complex scenario, and launches scene modules without Behavior Tree. multiple modules can run simultaneously on this manager. | [LINK](./docs/behavior_path_planner_manager_design.md) | + Users can refer to [Planning component design](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/#supported-functions) for some additional behavior. -The manager is switched by flag `COMPILE_WITH_OLD_ARCHITECTURE` in CmakeLists.txt of `behavior_path_planner` package. Please set the flag **FALSE** if you try to use BT-free manager. +#### How to add or implement new module? -```cmake -cmake_minimum_required(VERSION 3.14) -project(behavior_path_planner) +All scene modules are implemented by inheriting base class `scene_module_interface.hpp`. -find_package(autoware_cmake REQUIRED) -autoware_package() +!!! Warning -find_package(OpenCV REQUIRED) -find_package(magic_enum CONFIG REQUIRED) + The remainder of this subsection is work in progress (WIP). -set(COMPILE_WITH_OLD_ARCHITECTURE TRUE) # <- HERE +### Planner Manager -... -``` +The Planner Manager's responsibilities include: -**What is the Behavior Tree?**: In the behavior path planner, the behavior tree mechanism is used to manage which modules are activated in which situations. In general, this "behavior manager" like function is expected to become bigger as more and more modules are added in the future. To improve maintainability, we adopted the behavior tree. The behavior tree has the following advantages: easy visualization, easy configuration management (behaviors can be changed by replacing configuration files), and high scalability compared to the state machine. +1. Activating the relevant scene module in response to the specific situation faced by the autonomous vehicle. For example, when a parked vehicle blocks the ego vehicle's driving lane, the manager would engage the avoidance module. +2. Managing the execution order when multiple modules are running simultaneously. For instance, if both the lane-changing and avoidance modules are operational, the manager decides which should take precedence. +3. Merging paths from multiple modules when they are activated simultaneously and each generates its own path, thereby creating a single functional path. -The current behavior tree structure is shown below. Each modules (LaneChange, Avoidance, etc) have _Request_, _Ready_, and _Plan_ nodes as a common function. +!!! note -- **Request**: Check if there is a request from the module (e.g. LaneChange has a request when there are multi-lanes and the vehicle is not on the preferred lane), -- **Ready**: Check if it is safe to execute the plan (e.g. LaneChange is ready when the lane_change path does not have any conflicts with other dynamic objects on S-T space). -- **Plan**: Calculates path and set it to the output of the BehaviorTree. Until the internal status returns SUCCESS, it will be in running state and will not transit to another module. -- **ForceApproval**: A lane change-specific node that overrides the result of _Ready_ when a forced lane change command is given externally. + To check the scene module's transition, i.e.: registered, approved and candidate modules, set `verbose: true` in the [behavior path planner configuration file](https://github.com/autowarefoundation/autoware_launch/blob/0cd5d891a36ac34a32a417205905c109f2bafe7b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml#L3). -![behavior_path_planner_bt_config](./image/behavior_path_planner_bt_config.png) + ![Scene module's transition table](./image/checking_module_transition.png) + +!!! note + + For more in-depth information, refer to [Manager design](./docs/behavior_path_planner_manager_design.md) document. ## Inputs / Outputs / API -### output +### Input -| Name | Type | Description | -| :-------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | -| ~/input/path | `autoware_auto_planning_msgs::msg::PathWithLaneId` | the path generated by modules. | -| ~/input/path_candidate | `autoware_auto_planning_msgs::msg::Path` | the path the module is about to take. to be executed as soon as external approval is obtained. | -| ~/input/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | -| ~/input/hazard_lights_cmd | `tier4_planning_msgs::msg::PathChangeModuleArray` | hazard lights command. | -| ~/input/ready_module | `tier4_planning_msgs::msg::PathChangeModule` | (for remote control) modules that are ready to be executed. | -| ~/input/running_modules | `tier4_planning_msgs::msg::PathChangeModuleArray` | (for remote control) current running module. | +| Name | Required? | Type | Description | +| :---------------------------- | :-------: | :----------------------------------------------------- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| ~/input/odometry | ○ | `nav_msgs::msg::Odometry` | for ego velocity. | +| ~/input/accel | ○ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. | +| ~/input/objects | ○ | `autoware_auto_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | +| ~/input/occupancy_grid_map | ○ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | +| ~/input/traffic_signals | ○ | `autoware_perception_msgs::msg::TrafficSignalArray` | traffic signals information from the perception module | +| ~/input/vector_map | ○ | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map information. | +| ~/input/route | ○ | `autoware_auto_mapping_msgs::msg::LaneletRoute` | current route from start to goal. | +| ~/input/scenario | ○ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. | +| ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift | +| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/operation-mode.md) | -### input +- ○ Mandatory: Planning Module would not work if anyone of this is not present. +- △ Optional: Some module would not work, but Planning Module can still be operated. -| Name | Type | Description | -| :----------------------------- | :----------------------------------------------------- | :------------------------------------------------------------------------------------ | -| ~/input/route | `autoware_auto_mapping_msgs::msg::LaneletRoute` | current route from start to goal. | -| ~/input/vector_map | `autoware_auto_mapping_msgs::msg::HADMapBin` | map information. | -| ~/input/objects | `autoware_auto_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | -| ~/input/occupancy_grid_map/map | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | -| ~/input/kinematic_state | `nav_msgs::msg::Odometry` | for ego velocity. | +### Output -## General features of behavior path planner +| Name | Type | Description | QoS Durability | +| :---------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | ----------------- | +| ~/output/path | `autoware_auto_planning_msgs::msg::PathWithLaneId` | the path generated by modules. | `volatile` | +| ~/output/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | `volatile` | +| ~/output/hazard_lights_cmd | `autoware_auto_vehicle_msgs::msg::HazardLightsCommand` | hazard lights command. | `volatile` | +| ~/output/modified_goal | `autoware_planning_msgs::msg::PoseWithUuidStamped` | output modified goal commands. | `transient_local` | +| ~/output/stop_reasons | `tier4_planning_msgs::msg::StopReasonArray` | describe the reason for ego vehicle stop | `volatile` | +| ~/output/reroute_availability | `tier4_planning_msgs::msg::RerouteAvailability` | the path the module is about to take. to be executed as soon as external approval is obtained. | `volatile` | -### Drivable area generation logic +### Debug -The behavior path planner generates drivable area that is defined in `autoware_auto_planning_msgs::msg::PathWithLaneId` and `autoware_auto_planning_msgs::msg::Path` messages as: +| Name | Type | Description | QoS Durability | +| :-------------------------------------- | :-------------------------------------------------- | :---------------------------------------------------------------------------------------- | -------------- | +| ~/debug/avoidance_debug_message_array | `tier4_planning_msgs::msg::AvoidanceDebugMsgArray` | debug message for avoidance. notify users reasons for avoidance path cannot be generated. | `volatile` | +| ~/debug/lane_change_debug_message_array | `tier4_planning_msgs::msg::LaneChangeDebugMsgArray` | debug message for lane change. notify users unsafe reason during lane changing process | `volatile` | +| ~/debug/maximum_drivable_area | `visualization_msgs::msg::MarkerArray` | shows maximum static drivable area. | `volatile` | +| ~/debug/turn_signal_info | `visualization_msgs::msg::MarkerArray` | TBA | `volatile` | +| ~/debug/bound | `visualization_msgs::msg::MarkerArray` | debug for static drivable area | `volatile` | +| ~/planning/path_candidate/\* | `autoware_auto_planning_msgs::msg::Path` | the path before approval. | `volatile` | +| ~/planning/path_reference/\* | `autoware_auto_planning_msgs::msg::Path` | reference path generated by each modules. | `volatile` | -```c++ -std::vector left_bound; -std::vector right_bound; -``` +!!! note -Optionally, the drivable area can be expanded by a static distance. -Expansion parameters are defined for each module of the `behavior_path_planner` and should be prefixed accordingly (see `config/drivable_area_expansion.yaml` for an example). + For specific information of which topics are being subscribed and published, refer to [behavior_path_planner.xml](https://github.com/autowarefoundation/autoware.universe/blob/9000f430c937764c14e43109539302f1f878ed70/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml#L36-L49). -| Name | Unit | Type | Description | Default value | -| :------------------------------- | :--- | :-------------- | :----------------------------------------- | :------------ | -| drivable_area_right_bound_offset | [m] | double | expansion distance of the right bound | 0.0 | -| drivable_area_right_bound_offset | [m] | double | expansion distance of the left bound | 0.0 | -| drivable_area_types_to_skip | | list of strings | types of linestrings that are not expanded | [road_border] | +## How to enable or disable the modules -Click [here](./docs/behavior_path_planner_drivable_area_design.md) for details. +Enabling and disabling the modules in the behavior path planner is primarily managed through two key files: `default_preset.yaml` and `behavior_path_planner.launch.xml`. -### Turn signal decision logic +The `default_preset.yaml` file acts as a configuration file for enabling or disabling specific modules within the planner. It contains a series of arguments which represent the behavior path planner's modules or features. For example: -The behavior path planner outputs turn signal information as `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand`. It uses rule-based algorithm to determine blinkers. +- `launch_avoidance_module`: Set to `true` to enable the avoidance module, or `false` to disable it. +- `use_experimental_lane_change_function`: Set to `true` to enable experimental features in the lane change module. -```c++ -module autoware_auto_vehicle_msgs { - module msg { - module TurnIndicatorsCommand_Constants { - const uint8 NO_COMMAND = 0; - const uint8 DISABLE = 1; - const uint8 ENABLE_LEFT = 2; - const uint8 ENABLE_RIGHT = 3; - }; +!!! note - @verbatim (language="comment", text= - " Command for controlling turn indicators.") + Click [here](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/preset/default_preset.yaml) to view the `default_preset.yaml`. - struct TurnIndicatorsCommand { - builtin_interfaces::msg::Time stamp; +The `behavior_path_planner.launch.xml` file references the settings defined in `default_preset.yaml` to apply the configurations when the behavior path planner's node is running. For instance, the parameter `avoidance.enable_module` in - @default (value=0) - uint8 command; - }; - }; -}; +```xml + ``` -Click [here](./docs/behavior_path_planner_turn_signal_design.md) for details. +corresponds to launch_avoidance_module from `default_preset.yaml`. -### Shifted path generation logic +Therefore, to enable or disable a module, simply set the corresponding module in `default_preset.yaml` to `true` or `false`. These changes will be applied upon the next launch of Autoware. -Some modules have to generate shifted path from reference path, then shift path generation logic is implemented as library **path shifter**. **path shifter** takes a reference path and shift lines and output a shifted path. +## Generating Path -```c++ -struct ShiftLine -{ - Pose start{}; // shift start point in absolute coordinate - Pose end{}; // shift start point in absolute coordinate +A sophisticated methodology is used for path generation, particularly focusing on maneuvers like lane changes and avoidance. At the core of this design is the smooth lateral shifting of the reference path, achieved through a constant-jerk profile. This approach ensures a consistent rate of change in acceleration, facilitating smooth transitions and minimizing abrupt changes in lateral dynamics, crucial for passenger comfort and safety. - // relative shift length at the start point related to the reference path - double start_shift_length{}; +The design involves complex mathematical formulations for calculating the lateral shift of the vehicle's path over time. These calculations include determining lateral displacement, velocity, and acceleration, while considering the vehicle's lateral acceleration and velocity limits. This is essential for ensuring that the vehicle's movements remain safe and manageable. - // relative shift length at the end point related to the reference path - double end_shift_length{}; +The `ShiftLine` struct (as seen [here](https://github.com/autowarefoundation/autoware.universe/blob/9000f430c937764c14e43109539302f1f878ed70/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp#L35-L48)) is utilized to represent points along the path where the lateral shift starts and ends. It includes details like the start and end points in absolute coordinates, the relative shift lengths at these points compared to the reference path, and the associated indexes on the reference path. This struct is integral to managing the path shifts, as it allows the path planner to dynamically adjust the trajectory based on the vehicle's current position and planned maneuver. - size_t start_idx{}; // associated start-point index for the reference path - size_t end_idx{}; // associated end-point index for the reference path -}; -``` +Furthermore, the design and its implementation incorporate various equations and mathematical models to calculate essential parameters for the path shift. These include the total distance of the lateral shift, the maximum allowable lateral acceleration and jerk, and the total time required for the shift. Practical considerations are also noted, such as simplifying assumptions in the absence of a specific time interval for most lane change and avoidance cases. + +The shifted path generation logic enables the behavior path planner to dynamically generate safe and efficient paths, precisely controlling the vehicle’s lateral movements to ensure the smooth execution of lane changes and avoidance maneuvers. This careful planning and execution adhere to the vehicle's dynamic capabilities and safety constraints, maximizing efficiency and safety in autonomous vehicle navigation. + +!!! note + + If you're a math lover, refer to [Path Generation Design](./docs/behavior_path_planner_path_generation_design.md) for the nitty-gritty. + +## Collision Assessment / Safety check + +The purpose of the collision assessment function in the Behavior Path Planner is to evaluate the potential for collisions with target objects across all modules. It is utilized in two scenarios: + +1. During candidate path generation, to ensure that the generated candidate path is collision-free. +2. When the path is approved by the manager, and the ego vehicle is executing the current module. If the current situation is deemed unsafe, depending on each module's requirements, the planner will either cancel the execution or opt to execute another module. + +The safety check process involves several steps. Initially, it obtains the pose of the target object at a specific time, typically through interpolation of the predicted path. It then checks for any overlap between the ego vehicle and the target object at this time. If an overlap is detected, the path is deemed unsafe. The function also identifies which vehicle is in front by using the arc length along the given path. The function operates under the assumption that accurate data on the position, velocity, and shape of both the ego vehicle (the autonomous vehicle) and any target objects are available. It also relies on the yaw angle of each point in the predicted paths of these objects, which is expected to point towards the next path point. + +A critical part of the safety check is the calculation of the RSS (Responsibility-Sensitive Safety) distance-inspired algorithm. This algorithm considers factors such as reaction time, safety time margin, and the velocities and decelerations of both vehicles. Extended object polygons are created for both the ego and target vehicles. Notably, the rear object’s polygon is extended by the RSS distance longitudinally and by a lateral margin. The function finally checks for overlap between this extended rear object polygon and the front object polygon. Any overlap indicates a potential unsafe situation. + +However, the module does have a limitation concerning the yaw angle of each point in the predicted paths of target objects, which may not always accurately point to the next point, leading to potential inaccuracies in some edge cases. + +!!! note + + For further reading on the collision assessment method, please refer to [Safety check utils](./docs/behavior_path_planner_safety_check.md) + +## Generating Drivable Area + +### Static Drivable Area logic + +The drivable area is used to determine the area in which the ego vehicle can travel. The primary goal of static drivable area expansion is to ensure safe travel by generating an area that encompasses only the necessary spaces for the vehicle's current behavior, while excluding non-essential areas. For example, while `avoidance` module is running, the drivable area includes additional space needed for maneuvers around obstacles, and it limits the behavior by not extending the avoidance path outside of lanelet areas. -Click [here](./docs/behavior_path_planner_path_generation_design.md) for details. +
+ + + + + + + +
Before expansion
After expansion
+
-## References / External links +Static drivable area expansion operates under assumptions about the correct arrangement of lanes and the coverage of both the front and rear of the vehicle within the left and right boundaries. Key parameters for drivable area generation include extra footprint offsets for the ego vehicle, the handling of dynamic objects, maximum expansion distance, and specific methods for expansion. Additionally, since each module generates its own drivable area, before passing it as the input to generate the next running module's drivable area, or before generating a unified drivable area, the system sorts drivable lanes based on the vehicle's passage order. This ensures the correct definition of the lanes used in drivable area generation. -This module depends on the external [BehaviorTreeCpp](https://github.com/BehaviorTree/BehaviorTree.CPP) library. +!!! note - + Further details can is provided in [Drivable Area Design](./docs/behavior_path_planner_drivable_area_design.md). -[[1]](https://www.sciencedirect.com/science/article/pii/S1474667015347431) H. Vorobieva, S. Glaser, N. Minoiu-Enache, and S. Mammar, “Geometric path planning for automatic parallel parking in tiny spots”, IFAC Proceedings Volumes, vol. 45, no. 24, pp. 36–42, 2012. +### Dynamic Drivable Area Logic -## Future extensions / Unimplemented parts +Large vehicles require much more space, which sometimes causes them to veer out of their current lane. A typical example being a bus making a turn at a corner. In such cases, relying on a static drivable area is insufficient, since the static method depends on lane information provided by high-definition maps. To overcome the limitations of the static approach, the dynamic drivable area expansion algorithm adjusts the navigable space for an autonomous vehicle in real-time. It conserves computational power by reusing previously calculated path data, updating only when there is a significant change in the vehicle's position. The system evaluates the minimum lane width necessary to accommodate the vehicle's turning radius and other dynamic factors. It then calculates the optimal expansion of the drivable area's boundaries to ensure there is adequate space for safe maneuvering, taking into account the vehicle's path curvature. The rate at which these boundaries can expand or contract is moderated to maintain stability in the vehicle's navigation. The algorithm aims to maximize the drivable space while avoiding fixed obstacles and adhering to legal driving limits. Finally, it applies these boundary adjustments and smooths out the path curvature calculations to ensure a safe and legally compliant navigable path is maintained throughout the vehicle's operation. -- +!!! note + + The feature can be enabled in the [drivable_area_expansion.param.yaml](https://github.com/autowarefoundation/autoware_launch/blob/0cd5d891a36ac34a32a417205905c109f2bafe7b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml#L10). + +## Generating Turn Signal + +The Behavior Path Planner module uses the `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` to output turn signal commands (see [TurnIndicatorsCommand.idl](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl)). The system evaluates the driving context and determines when to activate turn signals based on its maneuver planning—like turning, lane changing, or obstacle avoidance. + +Within this framework, the system differentiates between **desired** and **required** blinker activations. **Desired** activations are those recommended by traffic laws for typical driving scenarios, such as signaling before a lane change or turn. **Required** activations are those that are deemed mandatory for safety reasons, like signaling an abrupt lane change to avoid an obstacle. + +The `TurnIndicatorsCommand` message structure has a command field that can take one of several constants: `NO_COMMAND` indicates no signal is necessary, `DISABLE` to deactivate signals, `ENABLE_LEFT` to signal a left turn, and `ENABLE_RIGHT` to signal a right turn. The Behavior Path Planner sends these commands at the appropriate times, based on its rules-based system that considers both the **desired** and **required** scenarios for blinker activation. + +!!! note + + For more in-depth information, refer to [Turn Signal Design](./docs/behavior_path_planner_turn_signal_design.md) document. + +## Rerouting + +!!! warning + + Rerouting is a feature that was still under progress. Further information will be included on a later date. + +## Parameters and Configuration + +The [configuration files](https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner) are organized in a hierarchical directory structure for ease of navigation and management. Each subdirectory contains specific configuration files relevant to its module. The root directory holds general configuration files that apply to the overall behavior of the planner. The following is an overview of the directory structure with the respective configuration files. + +```text +behavior_path_planner +├── behavior_path_planner.param.yaml +├── drivable_area_expansion.param.yaml +├── scene_module_manager.param.yaml +├── avoidance +│ └── avoidance.param.yaml +├── avoidance_by_lc +│ └── avoidance_by_lc.param.yaml +├── dynamic_avoidance +│ └── dynamic_avoidance.param.yaml +├── goal_planner +│ └── goal_planner.param.yaml +├── lane_change +│ └── lane_change.param.yaml +├── side_shift +│ └── side_shift.param.yaml +└── start_planner + └── start_planner.param.yaml +``` + +Similarly, the [common](https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/planning/scenario_planning/common) directory contains configuration files that are used across various modules, providing shared parameters and settings essential for the functioning of the Behavior Path Planner: + +```text +common +├── common.param.yaml +├── costmap_generator.param.yaml +└── nearest_search.param.yaml +``` + +The [preset](https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/planning/preset) directory contains the configurations for managing the operational state of various modules. It includes the default_preset.yaml file, which specifically caters to enabling and disabling modules within the system. + +```text +preset +└── default_preset.yaml +``` -## Related issues +## Limitations & Future Work -- +1. Goal Planner module cannot be simultaneously executed together with other modules. +2. Module is not designed as plugin. 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