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feat(map_based_prediction): consider only routable neighbours for lane change #5669

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merged 1 commit into from
Nov 25, 2023
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feat(map_based_prediction): consider only routable neighbours for lane change #5669

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1 change: 1 addition & 0 deletions perception/map_based_prediction/config/map_based_prediction.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,5 +29,6 @@
diff_dist_threshold_to_left_bound: 0.29 #[m]
diff_dist_threshold_to_right_bound: -0.29 #[m]
num_continuous_state_transition: 3
consider_only_routable_neighbours: false

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Unknown word (routable)

reference_path_resolution: 0.5 #[m]
1 change: 1 addition & 0 deletions perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
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Expand Up @@ -157,6 +157,7 @@ class MapBasedPredictionNode : public rclcpp::Node
double diff_dist_threshold_to_left_bound_;
double diff_dist_threshold_to_right_bound_;
int num_continuous_state_transition_;
bool consider_only_routable_neighbours_;
double reference_path_resolution_;

// Stop watch
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30 changes: 18 additions & 12 deletions perception/map_based_prediction/src/map_based_prediction_node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

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ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1532 to 1536, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.08 to 6.10, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -760,6 +760,9 @@

num_continuous_state_transition_ =
declare_parameter<int>("lane_change_detection.num_continuous_state_transition");

consider_only_routable_neighbours_ =
declare_parameter<bool>("lane_change_detection.consider_only_routable_neighbours");

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perception/map_based_prediction/src/map_based_prediction_node.cpp#L764-L765 

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}
reference_path_resolution_ = declare_parameter<double>("reference_path_resolution");
/* prediction path will disabled when the estimated path length exceeds lanelet length. This
Expand Down Expand Up @@ -1514,19 +1517,22 @@
if (!!opt) {
return *opt;
}
const auto adjacent = get_left ? routing_graph_ptr_->adjacentLeft(lanelet)
: routing_graph_ptr_->adjacentRight(lanelet);
if (!!adjacent) {
return *adjacent;
}
// search for unconnected lanelet
const auto unconnected_lanelets = get_left
? getLeftLineSharingLanelets(lanelet, lanelet_map_ptr_)
: getRightLineSharingLanelets(lanelet, lanelet_map_ptr_);
// just return first candidate of unconnected lanelet for now
if (!unconnected_lanelets.empty()) {
return unconnected_lanelets.front();
if (!consider_only_routable_neighbours_) {

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perception/map_based_prediction/src/map_based_prediction_node.cpp#L1520 

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const auto adjacent = get_left ? routing_graph_ptr_->adjacentLeft(lanelet)
: routing_graph_ptr_->adjacentRight(lanelet);
if (!!adjacent) {

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return *adjacent;
}
// search for unconnected lanelet
const auto unconnected_lanelets =
get_left ? getLeftLineSharingLanelets(lanelet, lanelet_map_ptr_)
: getRightLineSharingLanelets(lanelet, lanelet_map_ptr_);

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// just return first candidate of unconnected lanelet for now
if (!unconnected_lanelets.empty()) {

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return unconnected_lanelets.front();
}
}

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❌ Getting worse: Complex Method 

MapBasedPredictionNode::getPredictedReferencePath increases in cyclomatic complexity from 16 to 17, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

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❌ New issue: Bumpy Road Ahead 

MapBasedPredictionNode::getPredictedReferencePath has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
// if no candidate lanelet found, return empty
return std::nullopt;
};
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