feat(map_based_prediction): prediction with acc constraints #5960

danielsanchezaran · 2023-12-26T00:57:13Z

Description

Implement a lateral acceleration-based pruning mechanism to eliminate unfeasible vehicle paths. See link for more details: TIER IV INTERNAL LINK

Also, added the possibility of updating parameters in real time (only used for the parameters added by this PR).

Tests performed

PSim with different vehicle speeds and Evaluator tests (I did not find degradation caused by this PR.
): TIER IV INTERNAL LINK
Example video:

The paths to turn right or left dissappear then the vehicle is close t\because it cannot realistically slow down on time to turn.

cap-.2023-12-26-10-36-47.mp4

Notes for reviewers

Requires these changes to launch: autowarefoundation/autoware_launch#759

Interface changes

Effects on system behavior

Eliminates predicted paths (for vehicles) that are unfeasible because they would generate large lateral accelerations

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codecov · 2023-12-26T12:51:13Z

Codecov Report

Attention: 82 lines in your changes are missing coverage. Please review.

Comparison is base (4016c05) 15.25% compared to head (1eae714) 15.24%.
Report is 4 commits behind head on main.

Files	Patch %	Lines
...map_based_prediction/map_based_prediction_node.hpp	0.00%	51 Missing ⚠️
...based_prediction/src/map_based_prediction_node.cpp	0.00%	31 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5960      +/-   ##
==========================================
- Coverage   15.25%   15.24%   -0.02%     
==========================================
  Files        1750     1750              
  Lines      120562   120642      +80     
  Branches    36735    36735              
==========================================
  Hits        18390    18390              
- Misses      81543    81623      +80     
  Partials    20629    20629

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`15.25% <ø> (+<0.01%)`	⬆️	Carriedforward from 1f8d535

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

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

kyoichi-sugahara · 2023-12-27T00:26:50Z

perception/map_based_prediction/README.md

@@ -66,7 +66,7 @@ Lane change logics is illustrated in the figure below.An example of how to tune

 ### Tuning lane change detection logic

-Currently we provide two parameters to tune lane change detection:
+Currently we provide three parameters to tune lane change detection:


perception/map_based_prediction/src/map_based_prediction_node.cpp

perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp

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

kyoichi-sugahara

LGTM!

…foundation#5960) * WIP add acc constraints to discard paths Signed-off-by: Daniel Sanchez <[email protected]> * Add lat acc constraints to predicted paths Signed-off-by: Daniel Sanchez <[email protected]> * Delete debug print Signed-off-by: Daniel Sanchez <[email protected]> * delete unused var Signed-off-by: Daniel Sanchez <[email protected]> * delete unused var Signed-off-by: Daniel Sanchez <[email protected]> * WIP Signed-off-by: Daniel Sanchez <[email protected]> * make lat acc calculation with yaw rate Signed-off-by: Daniel Sanchez <[email protected]> * eliminate debug prints Signed-off-by: Daniel Sanchez <[email protected]> * delete unused variable Signed-off-by: Daniel Sanchez <[email protected]> * refactor rename function Signed-off-by: Daniel Sanchez <[email protected]> * keep a copy of the straightest path in case all paths are cleared Signed-off-by: Daniel Sanchez <[email protected]> * refactor and add constraints check parameter Signed-off-by: Daniel Sanchez <[email protected]> * update documentation Signed-off-by: Daniel Sanchez <[email protected]> * add braces for readability (style guide) Signed-off-by: Daniel Sanchez <[email protected]> * fix review issues Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]>

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Dec 26, 2023

danielsanchezaran assigned danielsanchezaran, YoshiRi and kyoichi-sugahara Dec 26, 2023

danielsanchezaran mentioned this pull request Dec 26, 2023

feat(map_based_prediction): map prediction with acc constraints autowarefoundation/autoware_launch#759

Merged

7 tasks

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Dec 26, 2023

danielsanchezaran added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 26, 2023

danielsanchezaran marked this pull request as ready for review December 26, 2023 08:04

danielsanchezaran requested review from ktro2828, kyoichi-sugahara, miursh, takayuki5168, tkimura4 and YoshiRi as code owners December 26, 2023 08:04

danielsanchezaran and others added 14 commits December 27, 2023 08:56

WIP add acc constraints to discard paths

c32b71b

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

Add lat acc constraints to predicted paths

94c0364

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

Delete debug print

69e59fe

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

delete unused var

84d4a90

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

delete unused var

374c6f1

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

WIP

3c51498

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

make lat acc calculation with yaw rate

c046797

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

eliminate debug prints

4b0cf86

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

delete unused variable

e46d1ff

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

refactor rename function

b2a4686

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

keep a copy of the straightest path in case all paths are cleared

25f6fc3

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

refactor and add constraints check parameter

e6190ff

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

update documentation

9aa79ab

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

add braces for readability (style guide)

1f8d535

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

danielsanchezaran force-pushed the feat/map-prediction-with-acc-constraints branch from 18f2cc8 to 1f8d535 Compare December 26, 2023 23:56