feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop #7121
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
yuki-takagi-66
added
the
run:build-and-test-differential
github-actions
bot
added
the
component:planning
yuki-takagi-66
force-pushed
the
abandon_to_stop
branch
from
11628a3 to
3795161
Compare
yuki-takagi-66
changed the title
yuki-takagi-66
changed the title
yuki-takagi-66
changed the title
yuki-takagi-66
force-pushed
the
abandon_to_stop
branch
from
5e606fc to
809502c
Compare
yuki-takagi-66
requested review from
kosuke55,
satoshi-ota and
takayuki5168
as code owners
yuki-takagi-66
removed
the
run:build-and-test-differential
Comment on lines
220
to
236
| stop: | ||
| type_specified_params: | ||
| use_type_specified_params: # If true, the node try to read the following type specified values | ||
| unknown: true | ||
| car: false | ||
| truck: false | ||
| bus: false | ||
| trailer: false | ||
| motorcycle: false | ||
| bicycle: false | ||
| pedestrian: false | ||
| limit_min_acc: # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred. | ||
| unknown: -1.0 | ||
| limit_max_dist: | ||
| unknown: 50.0 | ||
| abandon_to_stop: # If true, the planner gives up to stop when it cannot avoid a collision while maintaining the deceleration limit. | ||
| unknown: false |
There was a problem hiding this comment.
Is it possible to list down parameters depending on the object type as parameters of slow_down ?
| } | ||
| } | ||
| } | ||
| std::string getParamType(ObjectClassification label) |
There was a problem hiding this comment.
Add const reference to the argument, and const to the function. Please check other functions as well.
| if (current_closest_stop_obstacle) { | ||
| prev_closest_stop_obstacle_ptr_ = | ||
| std::make_shared<StopObstacle>(*current_closest_stop_obstacle); | ||
| static std::vector<StopObstacle> prev_closest_stop_obstacles{}; |
There was a problem hiding this comment.
Any reason to use static variables?
I actually am not 100% confident, but I feel they should be avoided.
https://stackoverflow.com/questions/7026507/why-are-static-variables-considered-evil
yuki-takagi-66
added
the
run:build-and-test-differential
yuki-takagi-66
force-pushed
the
abandon_to_stop
branch
from
bb77adb to
46d8d36
Compare
4 tasks
takayuki5168
approved these changes
Jun 4, 2024
yuki-takagi-66
force-pushed
the
abandon_to_stop
branch
from
46d8d36 to
acacbf6
Compare
Signed-off-by: Yuki Takagi <[email protected]>
yuki-takagi-66
force-pushed
the
abandon_to_stop
branch
from
acacbf6 to
a8ff548
Compare
Signed-off-by: Yuki Takagi <[email protected]>
yuki-takagi-66
merged commit 565589c
into
autowarefoundation:main
21 of 23 checks passed
KhalilSelyan
pushed a commit
that referenced
this pull request
Jul 22, 2024
… abandon to stop (#7121) * add abandon function Signed-off-by: Yuki Takagi <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
New feature to use type specified parameters for stop planning
Until now, the deceleration limit for stopping has been a value that does not depend on the type of object (currently, -2.5, which is set in common_param). In addition, although the deceleration limit may postpone the stop position, it does not change the stop decision itself.
This PR provides two additional features.
The first is to allow the deceleration limit to be set for each object type. For unknown objects, we put the default value to stop at “loose deceleration.”
The other is a function that abandons the decision to stop when a collision cannot be prevented while maintaining the deceleration limit. This function is disabled for all object types by default. I believe that it can be enabled only after careful consideration and only for unknown objects.
Screencast from 05-28-2024 04:57:55 PM.webm
abandon to stop against bus with the parameters
Screencast from 05-28-2024 05:01:58 PM.webm
Multiple stop objects can be handled appropriately
Related links
launch PR: autowarefoundation/autoware_launch#1003
Tests performed
psim and tier4 internal tests
Notes for reviewers
Interface changes
ROS Topic Changes
none
ROS Parameter Changes
see the file changes and comments
Effects on system behavior
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.