feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters #5510

danielsanchezaran · 2023-11-07T06:57:06Z

Description

`🤖 Generated by Copilot at cd523a7`

This pull request enhances the obstacle_cruise_planner by adding a new feature to distinguish between moving and static obstacles and adjust the slow down accordingly. It modifies the planner_interface.hpp and planner_interface.cpp files to implement this feature using new parameters, variables, and functions.

Tests performed

On PSim: planned a path with both static and moving obstacles. The example video shows how the vehicle uses different slow down parameters when encountering a moving pedestrian and a static pedestrian (the slow down is more pronounced for the moving pedestrian). A similar test is done with a static and a moving car, in this case, the parked car causes the ego to slow down to around 1 Km/h while the moving car makes the ego slow down to around 7 Km/h. See videos for more details.

cap-.2023-11-07-15-42-09.mp4

cap-.2023-11-08-11-07-03.mp4

Notes for reviewers

Note: Documentation update in progress
Requires changes to Autoware launch found on this PR Draft

Interface changes

Added parameters for hysteresis-based decision making -> is the obstacle moving or not.

Effects on system behavior

Vehicle slow down response can be customized for moving or static objects.

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codecov · 2023-11-07T10:08:37Z

Codecov Report

Attention: 49 lines in your changes are missing coverage. Please review.

Comparison is base (88b06e0) 15.26% compared to head (a2af7d9) 15.26%.
Report is 4 commits behind head on main.

Files	Patch %	Lines
...lude/obstacle_cruise_planner/planner_interface.hpp	2.56%	23 Missing and 15 partials ⚠️
.../obstacle_cruise_planner/src/planner_interface.cpp	0.00%	11 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5510      +/-   ##
==========================================
- Coverage   15.26%   15.26%   -0.01%     
==========================================
  Files        1715     1715              
  Lines      118348   118353       +5     
  Branches    37906    37925      +19     
==========================================
  Hits        18061    18061              
+ Misses      79634    79630       -4     
- Partials    20653    20662       +9

Flag	Coverage Δ		*Carryforward flag
differential	`8.08% <2.00%> (?)`
total	`15.26% <ø> (+<0.01%)`	⬆️	Carriedforward from 88b06e0

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

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takayuki5168 · 2023-11-13T05:49:06Z

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp

    }

-    ObstacleSpecificParams getObstacleParamByLabel(const ObjectClassification & label_id) const
+    ObstacleSpecificParams getObstacleParamByLabel(
+      const ObjectClassification & label_id, const bool & is_obstacle_moving) const


No need to add a reference to bool variables

takayuki5168 · 2023-11-13T08:47:24Z

planning/obstacle_cruise_planner/src/planner_interface.cpp

@@ -561,9 +561,17 @@ std::vector<TrajectoryPoint> PlannerInterface::generateSlowDownTrajectory(
    const auto & obstacle = obstacles.at(i);
    const auto prev_output = getObjectFromUuid(prev_slow_down_output_, obstacle.uuid);

+    bool is_obstacle_moving = [&]() -> bool {


Suggested change

bool is_obstacle_moving = [&]() -> bool {

const bool is_obstacle_moving = [&]() -> bool {

takayuki5168 · 2023-11-13T08:48:34Z

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp

-        return obstacle_to_param_struct_map.at(label);
-      }
-      return obstacle_to_param_struct_map.at("default");
+      std::string label =


Suggested change

std::string label =

const std::string label =

takayuki5168 · 2023-11-13T08:48:50Z

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp

-      return obstacle_to_param_struct_map.at("default");
+      std::string label =
+        (types_map.count(label_id.label) > 0) ? types_map.at(label_id.label) : "default";
+      std::string movement_postfix = (is_obstacle_moving) ? "moving" : "static";


Suggested change

std::string movement_postfix = (is_obstacle_moving) ? "moving" : "static";

const std::string movement_postfix = is_obstacle_moving ? "moving" : "static";

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

…arameters (autowarefoundation#5510) * Add extra tag for moving obstacle type Signed-off-by: Daniel Sanchez <[email protected]> * add static and moving as parameter postfixes Signed-off-by: Daniel Sanchez <[email protected]> * set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez <[email protected]> * update config params Signed-off-by: Daniel Sanchez <[email protected]> * Use speed norm for object classification Signed-off-by: Daniel Sanchez <[email protected]> * changed '_' for '.' to make the code more consistent Signed-off-by: Daniel Sanchez <[email protected]> * update documentation Signed-off-by: Daniel Sanchez <[email protected]> * move the obstacle moving check to generateSlowDownTrajectory Signed-off-by: Daniel Sanchez <[email protected]> * remove unnecessary reference Signed-off-by: Daniel Sanchez <[email protected]> * add const to certain variables Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]>

danielsanchezaran added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 7, 2023

danielsanchezaran self-assigned this Nov 7, 2023

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Nov 7, 2023

danielsanchezaran changed the title ~~feat(obstacle_cruise_planner): Use velocity based obstacle params for slow down~~ feat (obstacle_cruise_planner): Use velocity based obstacle params for slow down Nov 7, 2023

danielsanchezaran changed the title ~~feat (obstacle_cruise_planner): Use velocity based obstacle params for slow down~~ feat(obstacle_cruise_planner): use vehicle velocity based obstacle parameters Nov 7, 2023

danielsanchezaran mentioned this pull request Nov 7, 2023

feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters autowarefoundation/autoware_launch#681

Merged

7 tasks

danielsanchezaran changed the title ~~feat(obstacle_cruise_planner): use vehicle velocity based obstacle parameters~~ feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters Nov 8, 2023

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Nov 8, 2023

danielsanchezaran marked this pull request as ready for review November 8, 2023 05:26

danielsanchezaran requested review from kosuke55, satoshi-ota, takayuki5168 and purewater0901 as code owners November 8, 2023 05:26

takayuki5168 reviewed Nov 13, 2023

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danielsanchezaran force-pushed the feat/use-velocity-based-obstacle-params-for-slow-down branch from 4b2144d to 7780fd0 Compare November 13, 2023 06:05

takayuki5168 reviewed Nov 13, 2023

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takayuki5168 approved these changes Nov 13, 2023

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danielsanchezaran and others added 10 commits November 14, 2023 09:53

Add extra tag for moving obstacle type

32d4c71

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

add static and moving as parameter postfixes

f73fea7

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

set hysteresis-based obstacle moving classification

da0051c

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

update config params

59f6758

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

Use speed norm for object classification

704197e

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

changed '_' for '.' to make the code more consistent

8b8c6b6

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

update documentation

e0f1c71

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

move the obstacle moving check to generateSlowDownTrajectory

568bd23

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

remove unnecessary reference

4ad764a

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

add const to certain variables

a2af7d9

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

danielsanchezaran force-pushed the feat/use-velocity-based-obstacle-params-for-slow-down branch from efea426 to a2af7d9 Compare November 14, 2023 01:49

danielsanchezaran merged commit 60a51e0 into autowarefoundation:main Nov 14, 2023
24 of 28 checks passed

danielsanchezaran deleted the feat/use-velocity-based-obstacle-params-for-slow-down branch November 14, 2023 02:03

tier4-autoware-public-bot bot mentioned this pull request Nov 22, 2023

chore: sync upstream tier4/autoware.universe#1034

Merged

tier4-autoware-public-bot bot mentioned this pull request Nov 22, 2023

chore: sync upstream tier4/autoware.universe#1035

Merged

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feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters #5510

feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters #5510

danielsanchezaran commented Nov 7, 2023 •

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takayuki5168 Nov 13, 2023

takayuki5168 Nov 13, 2023

takayuki5168 Nov 13, 2023

danielsanchezaran Nov 14, 2023

takayuki5168 Nov 13, 2023

danielsanchezaran Nov 14, 2023

	bool is_obstacle_moving = [&]() -> bool {
	const bool is_obstacle_moving = [&]() -> bool {

	std::string movement_postfix = (is_obstacle_moving) ? "moving" : "static";
	const std::string movement_postfix = is_obstacle_moving ? "moving" : "static";

feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters #5510

feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters #5510

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danielsanchezaran commented Nov 7, 2023 • edited Loading

Description

🤖 Generated by Copilot at cd523a7

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 Nov 7, 2023 • edited Loading

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danielsanchezaran commented Nov 7, 2023 •

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`🤖 Generated by Copilot at cd523a7`

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