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feat(map_based_prediction): enable to control lateral path convergence speed by setting control time horizon #5285

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merged 3 commits into from
Oct 20, 2023
Merged

feat(map_based_prediction): enable to control lateral path convergence speed by setting control time horizon #5285

merged 3 commits into from
Oct 20, 2023

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YoshiRi
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@YoshiRi YoshiRi commented Oct 12, 2023 •
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Description

In the current path generation algorithm, lateral displacement is controlled so that the it will arrive center line after the time_horizon_ = 10sec. This causes slow lateral motion convergence and lead to inappropriate path outside the lanelet.

I just add one parameter to control this convergence speed. Like figure below.
It simply means to calculate lateral path which converge to centerline by faster time_horizon.

image

Must merge after autowarefoundation/autoware_launch#637.

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Tests performed

Tested with Psim.

See jira ticket TIER IV INTERNAL LINK.

Notes for reviewers

Must change autoware_launch repo before merging this to main branch.

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Effects on system behavior

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@github-actions github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Oct 12, 2023
@kyoichi-sugahara kyoichi-sugahara self-assigned this Oct 12, 2023
kyoichi-sugahara
kyoichi-sugahara reviewed Oct 16, 2023
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perception/map_based_prediction/config/map_based_prediction.param.yaml
@@ -2,6 +2,7 @@
ros__parameters:
enable_delay_compensation: true
prediction_time_horizon: 10.0 #[s]
lateral_control_time_horizon: 5.0 #[s]
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@YoshiRi
could you add explanation in the README.md?

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[NITS]
time_to_center_line is easier for me to understand the feature.

@YoshiRi YoshiRi mentioned this pull request Oct 16, 2023
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@YoshiRi
LGTM!
Are you going to run scenario test?

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@YoshiRi
Great feature, thank you very much!
One thing I was thinking is that while it's inevitable that the trajectory will expand with the jerk-minimized trajectory,
it might be difficult to tune the parameter for the convergence time of the lateral deviation.
Would it be possible to determine the convergence time of the lateral deviation based on the maximum jerk instead?

@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Oct 16, 2023
@YoshiRi YoshiRi force-pushed the feat/enable_to_control_lateral_path_convergence_speed branch from 593557f to 2061db2 Compare October 18, 2023 13:40
@YoshiRi YoshiRi force-pushed the feat/enable_to_control_lateral_path_convergence_speed branch from 2061db2 to 06267fc Compare October 19, 2023 07:42
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YoshiRi commented Oct 20, 2023

@kyoichi-sugahara
Test passed in Evaluator.

it might be difficult to tune the parameter for the convergence time of the lateral deviation.
Would it be possible to determine the convergence time of the lateral deviation based on the maximum jerk instead?

It's more simple. "Jerk minimized path" finally means quintic polynominal equations calculated with boundary conditions and we can just tune convergence time by changing ending boundarys.

@kyoichi-sugahara kyoichi-sugahara added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 20, 2023
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kyoichi-sugahara approved these changes Oct 20, 2023
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LGTM! Thanks!

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codecov bot commented Oct 20, 2023 •
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Codecov Report

Attention: 14 lines in your changes are missing coverage. Please review.

Comparison is base (0d0a22c) 14.77% compared to head (ae21652) 14.73%.
Report is 3 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #5285      +/-   ##
==========================================
- Coverage   14.77%   14.73%   -0.04%     
==========================================
  Files        1662     1662              
  Lines      115385   115660     +275     
  Branches    35616    35616              
==========================================
  Hits        17043    17043              
- Misses      79118    79393     +275     
  Partials    19224    19224
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 14.77% <ø> (+<0.01%) ⬆️ Carriedforward from 06267fc

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

Files Coverage Δ
...map_based_prediction/map_based_prediction_node.hpp 0.00% <ø> (ø)
...on/include/map_based_prediction/path_generator.hpp 0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp 0.00% <0.00%> (ø)
...eption/map_based_prediction/src/path_generator.cpp 0.00% <0.00%> (ø)

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@YoshiRi YoshiRi enabled auto-merge (squash) October 20, 2023 02:06
@YoshiRi YoshiRi merged commit d36be55 into autowarefoundation:main Oct 20, 2023
22 of 24 checks passed
@YoshiRi YoshiRi deleted the feat/enable_to_control_lateral_path_convergence_speed branch October 23, 2023 05:12
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Oct 25, 2023
Merged
YoshiRi added a commit to YoshiRi/autoware.universe that referenced this pull request Oct 31, 2023
@YoshiRi
feat(map_based_prediction): enable to control lateral path convergenc…
77c6eac 
…e speed by setting control time horizon (autowarefoundation#5285)

* enable to control lateral path convergence speed by setting control time horizon

Signed-off-by: yoshiri <[email protected]>

* update readme

Signed-off-by: yoshiri <[email protected]>

* add comment  in generate path function

Signed-off-by: yoshiri <[email protected]>

---------

Signed-off-by: yoshiri <[email protected]>
@YoshiRi YoshiRi mentioned this pull request Oct 31, 2023
Merged
7 tasks
YoshiRi added a commit to YoshiRi/autoware.universe that referenced this pull request Sep 23, 2024
@YoshiRi
feat(map_based_prediction): enable to control lateral path convergenc…
b6e77b9 
…e speed by setting control time horizon (autowarefoundation#5285)

* enable to control lateral path convergence speed by setting control time horizon

Signed-off-by: yoshiri <[email protected]>

* update readme

Signed-off-by: yoshiri <[email protected]>

* add comment  in generate path function

Signed-off-by: yoshiri <[email protected]>

---------

Signed-off-by: yoshiri <[email protected]>
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@kyoichi-sugahara kyoichi-sugahara kyoichi-sugahara approved these changes

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component:perception Advanced sensor data processing and environment understanding. (auto-assigned) tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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