feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner #5208

danielsanchezaran · 2023-10-03T01:44:10Z

Description

`🤖 Generated by Copilot at 82b40ad. Reformatted and expanded by Daniel`

This pull request enhances the obstacle cruise planner to use the obstacle type information for planning --> if a set of parameters is defined for a given obstacle class, the obstacle_cruise_planner will use those parameters to calculate the slow down speed. If no specific obstacle parameters are defined for the given obstacle type, the planner will use the "default" parameters instead. In the attached image there is an example that implements a different set of parameters for pedestrians only:

Other changes:
The PR adds the object_classification field to the SlowDownObstacle struct and uses it to select obstacle specific parameters for the slow down velocity calculation.

It also refactors the SlowDownParam struct and updates the obstacle_cruise_planner.param.yaml file to define parameters for different obstacle labels.

Tests performed

Used the planning simulator to test changes in behavior for different obstacles. If the obstacle type matches a obstacle-specific parameter (defined in obstacle_cruise_planner.param.yaml), the planner uses those parameters to calculate the slow down speed (instead of the default parameters).

See videos for BEFORE and AFTER for an example: TIER IV restricted page

I also modified the parameters while running the simulation to make sure the onParam changes execute properly.

Notes for reviewers

Interface changes

obstacle_cruise_planner.param.yaml has been changed. Now it is necessary to provide a "default" set of parameters for slow down and, if required, you can provide a new set of parameters for a specific obstacle type. See the image for an example change:

Effects on system behavior

it is possible to configure obstacle_cruise_planner to slow down differently depending on the obstacle type (ie. pedestrian, bicycle,car,etc.)

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Signed-off-by: Daniel Sanchez <[email protected]>

codecov · 2023-10-03T02:18:19Z

Codecov Report

Attention: 29 lines in your changes are missing coverage. Please review.

Comparison is base (0373d21) 14.87% compared to head (a6e1133) 14.89%.
Report is 70 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5208      +/-   ##
==========================================
+ Coverage   14.87%   14.89%   +0.01%     
==========================================
  Files        1627     1627              
  Lines      112557   112931     +374     
  Branches    34744    35070     +326     
==========================================
+ Hits        16745    16819      +74     
- Misses      77063    77289     +226     
- Partials    18749    18823      +74

Flag	Coverage Δ		*Carryforward flag
differential	`8.16% <6.45%> (?)`
total	`14.87% <ø> (+<0.01%)`	⬆️	Carriedforward from 719bc4f

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
planning/obstacle_cruise_planner/src/node.cpp	`14.96% <0.00%> (+2.59%)`	⬆️
...include/obstacle_cruise_planner/common_structs.hpp	`9.57% <0.00%> (+0.97%)`	⬆️
.../obstacle_cruise_planner/src/planner_interface.cpp	`6.18% <0.00%> (-0.02%)`	⬇️
...lude/obstacle_cruise_planner/planner_interface.hpp	`17.39% <7.69%> (-0.56%)`	⬇️

... and 1 file with indirect coverage changes

☔ View full report in Codecov by Sentry.
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Signed-off-by: Daniel Sanchez <[email protected]>

maxime-clem

I did not test this PR but the code looks good.

maxime-clem · 2023-10-04T06:21:23Z

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp

+      auto it = obstacle_to_param_struct_map.find(label);
+
+      if (it != obstacle_to_param_struct_map.end()) {
+        return obstacle_to_param_struct_map.at(label);


Suggested change

auto it = obstacle_to_param_struct_map.find(label);

if (it != obstacle_to_param_struct_map.end()) {

return obstacle_to_param_struct_map.at(label);

if (obstacle_to_param_struct_map.count(label) > 0) {

return obstacle_to_param_struct_map.at(label);

maxime-clem · 2023-10-04T06:23:38Z

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp

@@ -235,16 +266,37 @@ class PlannerInterface
        node.declare_parameter<double>("slow_down.lpf_gain_dist_to_slow_down");
    }

+    ObstacleSpecificParams getObstacleParamByLabel(const ObjectClassification & label_id) const
+    {
+      std::string label = types_map.at(label_id.label);


Suggested change

std::string label = types_map.at(label_id.label);

const std::string label = types_map.at(label_id.label);

Thanks for the suggestions @maxime-clem I have added them to the code.

Signed-off-by: Daniel Sanchez <[email protected]>

kosuke55

LGTM!

…obstacle cruise planner (autowarefoundation#5208) * Add slow down parameters dependant on obstacle type Signed-off-by: Daniel Sanchez <[email protected]> * divide obstacle parameters based on obstacle type Signed-off-by: Daniel Sanchez <[email protected]> * preserve obstacle type for velocity calculation Signed-off-by: Daniel Sanchez <[email protected]> * added pre-commit changes Signed-off-by: Daniel Sanchez <[email protected]> * change sample config params Signed-off-by: Daniel Sanchez <[email protected]> * Update Readme Signed-off-by: Daniel Sanchez <[email protected]> * Update README Signed-off-by: Daniel Sanchez <[email protected]> * small refactor for cleaner code Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]>

#920) feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner (autowarefoundation#5208) * Add slow down parameters dependant on obstacle type * divide obstacle parameters based on obstacle type * preserve obstacle type for velocity calculation * added pre-commit changes * change sample config params * Update Readme * Update README * small refactor for cleaner code --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]>

…obstacle cruise planner (autowarefoundation#5208) * Add slow down parameters dependant on obstacle type Signed-off-by: Daniel Sanchez <[email protected]> * divide obstacle parameters based on obstacle type Signed-off-by: Daniel Sanchez <[email protected]> * preserve obstacle type for velocity calculation Signed-off-by: Daniel Sanchez <[email protected]> * added pre-commit changes Signed-off-by: Daniel Sanchez <[email protected]> * change sample config params Signed-off-by: Daniel Sanchez <[email protected]> * Update Readme Signed-off-by: Daniel Sanchez <[email protected]> * Update README Signed-off-by: Daniel Sanchez <[email protected]> * small refactor for cleaner code Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]>

danielsanchezaran added 3 commits October 2, 2023 15:35

Add slow down parameters dependant on obstacle type

1c38243

Signed-off-by: Daniel Sanchez <[email protected]>

divide obstacle parameters based on obstacle type

2e1b0bc

Signed-off-by: Daniel Sanchez <[email protected]>

preserve obstacle type for velocity calculation

82b40ad

Signed-off-by: Daniel Sanchez <[email protected]>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 3, 2023

danielsanchezaran changed the title ~~feature(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner~~ feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner Oct 3, 2023

danielsanchezaran added 2 commits October 3, 2023 10:49

added pre-commit changes

cc2dee0

Signed-off-by: Daniel Sanchez <[email protected]>

change sample config params

32e2746

Signed-off-by: Daniel Sanchez <[email protected]>

danielsanchezaran added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 3, 2023

Update Readme

f62f906

Signed-off-by: Daniel Sanchez <[email protected]>

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Oct 3, 2023

Update README

719bc4f

Signed-off-by: Daniel Sanchez <[email protected]>

danielsanchezaran self-assigned this Oct 3, 2023

danielsanchezaran marked this pull request as ready for review October 3, 2023 08:00

danielsanchezaran requested review from kosuke55, satoshi-ota, takayuki5168 and purewater0901 as code owners October 3, 2023 08:00

maxime-clem reviewed Oct 4, 2023

View reviewed changes

small refactor for cleaner code

a6e1133

Signed-off-by: Daniel Sanchez <[email protected]>

danielsanchezaran mentioned this pull request Oct 5, 2023

feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner param change autowarefoundation/autoware_launch#621

Merged

4 tasks

kosuke55 approved these changes Oct 6, 2023

View reviewed changes

danielsanchezaran merged commit 6dfb197 into autowarefoundation:main Oct 6, 2023
28 of 30 checks passed

danielsanchezaran deleted the feature/obstacle_type_dependant_slow_down_for_obstacle_cruise_planner branch October 6, 2023 04:53

danielsanchezaran mentioned this pull request Oct 6, 2023

feat(obstacle_cruise_planner): obstacle type dependent slow down for … tier4/autoware.universe#920

Merged

This was referenced Oct 11, 2023

chore: sync upstream tier4/autoware.universe#927

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chore: sync upstream tier4/autoware.universe#928

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feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner #5208

feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner #5208

danielsanchezaran commented Oct 3, 2023 •

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maxime-clem Oct 4, 2023

maxime-clem Oct 4, 2023

danielsanchezaran Oct 5, 2023

kosuke55 left a comment

	std::string label = types_map.at(label_id.label);
	const std::string label = types_map.at(label_id.label);

feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner #5208

feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner #5208

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danielsanchezaran commented Oct 3, 2023 • edited Loading

Description

🤖 Generated by Copilot at 82b40ad. Reformatted and expanded by Daniel

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Oct 3, 2023 • edited Loading

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danielsanchezaran commented Oct 3, 2023 •

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`🤖 Generated by Copilot at 82b40ad. Reformatted and expanded by Daniel`

codecov bot commented Oct 3, 2023 •

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