feat(intersection): publish and visualize the reason for dangerous situation to blame past detection fault retrospectively

[soblin]

Description

visualization

• the objects that are judged as UNSAFE are visualized green
• the objects which:
  • were not detected when ego passed the 1st pass judge line, but now detected collision on the 1st attention lanelet
  • were not detected when ego passed the 2nd pass judge line, but now detected collision while ego is driving
  • are visualized red

In the following image(at [00:30]]), the object is suddenly detected when ego just passed the 1st pass judge line, which is visualized red.

In the following image(at [00:38]), the closer object is red because it was not detected when ego passed the 1st pass judge line but the collision is expected on the 1st lane. The second object is green because the collision is expected on the 2nd lanelet and ego is still before the 2nd pass judge line.

In the following image(at [00:49]) the object is red because it was not detected when ego passed the 2nd pass judge line but now detected collision.

PR6143-2024-01-25_18.39.06.mp4

Objects which was once judged safe when ego passed pass judge line but after that dangerous are visualized yellow.

PR6143-2024-01-26_18.36.32.mp4

diagnosis

For red/yellow targets, following diagnosis is published.

ros2 topic echo -f /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/decision_state

for red objects (objects which was safe at pass judge line passage, but after that dangerous):

data: "intersection1087 : NonOccludedCollisionStop
safety_report:object 4794efb25500b52b8fd1babef3a29715 was not detected when ego passed  \
the 1st pass judge line at 1706260630.4215639,  but now at 1706260632.1230607,  \
collision is detected after 2~3 seconds on the first attention lanelet of type FIRST. \

this object is estimated to have been at x = 89624.45066479736, y = 42268.00315728942 when ego passed  \
the 1st pass judge line(1.7014968395233154 seconds before from now) given the estimated  \
current velocity of 10.010836197709807[m/s]. ego was at x = 89605.2819746634,  \
y = 42312.67526017006 when it passed  the 1st pass judge line so it is the fault of detection side  \
that failed to detect around  48.61106311560853[m] range at that time."

data: 'intersection1087 : OverPassJudge:

  safety_report:object ac14e7d5a9a5c3bb33a0c061dd1bcba7 was not detected when ego passed  \
the 2nd pass judge line at 1706278259.2016559, but now at 1706278260.5038362, collision is detected  \
after 4.5~5.5 seconds on the lanelet of type SECOND.
  this object is estimated to have been at x = 89633.78756886403, y = 42245.2889476135 when ego passed  \
the 2nd pass judge line(1.302180290222168 seconds before from now) given the estimated current velocity \
 10.015088637725798[m/s]. ego was at x = 89604.91505923647, y = 42308.559887111674 when it passed  \
the 2nd pass judge line so it is the fault of detection side that failed to detect around  \
69.5473478802381[m]  range at that time.

  evasive_report:
  the object is expected to approach the collision point by the TTC margin in 1.0004517790830276 seconds,  \
while ego will arrive there in 2.4559680675063786 seconds, so ego needs to accelerate from current velocity \
 2.7144718357721525[m/s] to 7.055480441380711[m/s]

for yellow objects:

data: 'intersection1087 : OverPassJudge:

  safety_report:object f1728040d78dee66064090fca03a3300 was judged as SAFE at time  \
1706261296.8137178 previsouly with the estimated velocity of 3.115632923723282, but now at  \
1706261297.7148507 collision is detected after 6.5~7 seconds on the lanelet of type SECOND  \
with the estimated current velocity of 3.546198745717909

Related links

Tests performed

https://evaluation.tier4.jp/evaluation/reports/7e194bbc-c772-5bc3-bb90-b82326d5a44b?project_id=prd_jt

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Attention: 549 lines in your changes are missing coverage. Please review.

Comparison is base (6bf7532) 14.58% compared to head (2385604) 14.55%.
Report is 15 commits behind head on main.

Files	Patch %	Lines
...ection_module/src/scene_intersection_collision.cpp	0.00%	246 Missing ⚠️
...elocity_intersection_module/src/object_manager.cpp	0.00%	126 Missing ⚠️
...ity_intersection_module/src/scene_intersection.cpp	0.00%	68 Missing ⚠️
...ehavior_velocity_intersection_module/src/debug.cpp	0.00%	23 Missing ⚠️
...locity_intersection_module/src/decision_result.cpp	0.00%	21 Missing ⚠️
...ion_module/src/scene_intersection_prepare_data.cpp	0.00%	21 Missing ⚠️
...elocity_intersection_module/src/object_manager.hpp	0.00%	20 Missing ⚠️
...tersection_module/src/scene_intersection_stuck.cpp	0.00%	8 Missing ⚠️
...ection_module/src/scene_intersection_occlusion.cpp	0.00%	7 Missing ⚠️
...havior_velocity_intersection_module/src/result.hpp	0.00%	4 Missing ⚠️
... and 3 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6143      +/-   ##
==========================================
- Coverage   14.58%   14.55%   -0.04%     
==========================================
  Files        1871     1874       +3     
  Lines      127545   127886     +341     
  Branches    37309    37483     +174     
==========================================
  Hits        18608    18608              
- Misses      88018    88352     +334     
- Partials    20919    20926       +7     

Flag	Coverage Δ		*Carryforward flag
differential	4.69% <0.00%> (?)
total	14.61% <ø> (+0.02%)	⬆️	Carriedforward from 6bf7532

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