fix: predicted path generation logic (autowarefoundation#1610)

* feat(lane_change): cancel hysteresis (autowarefoundation#6288) * feat(lane_change): cancel hysteresis Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update documentation Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix the explanation of the hysteresis count Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Add parked parked RSS Signed-off-by: Zulfaqar Azmi <[email protected]> * support new perception_reproducer Signed-off-by: temkei.kem <[email protected]> * move files Signed-off-by: temkei.kem <[email protected]> * remove old files. Signed-off-by: temkei.kem <[email protected]> * fix pre-commit err Signed-off-by: temkei.kem <[email protected]> * style(pre-commit): autofix * feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (autowarefoundation#1571) Refactor turn signal decider logic and add support for detecting turn signals in turn lanes Signed-off-by: Kyoichi Sugahara <[email protected]> * fix a small bug about perception reproducer * style(pre-commit): autofix * feat(out_of_lane): ignore lanelets beyond the last path point (autowarefoundation#1554) * feat(out_of_lane): ignore lanelets beyond the last path point Signed-off-by: Maxime CLEMENT <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Maxime CLEMENT <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… (autowarefoundation#1574) feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680) * add method to ignore target obstacles that cross ego cut lane * WIP add debug support * add params and finish debug marker * change lane to line * use autoware utils to get the cut line * simplify code wit calcOffsetPose * Update readme and eliminate unused code * update readme * eliminate unused function * readme * comments and readme * eliminate unused include * typo * rename param for consistency * change lane to line for consistency * rename for clarity, add brief * fix indentation * update description * lane ->line * lane -> line --------- Signed-off-by: Daniel Sanchez <[email protected]> * fix(lane_change): change stopping logic (RT0-33761) (autowarefoundation#1581) * RT0-33761 fix lane change stopping logic Signed-off-by: Zulfaqar Azmi <[email protected]> * copied from awf main tested implementation Signed-off-by: Zulfaqar Azmi <[email protected]> * doxygen comment Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: mkquda <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: mkquda <[email protected]> * perf: PR 7237 autowarefoundation#7237 * perf RP8406 autowarefoundation#8406 * perf PR 8416 * perf PR 8427 * perf PR 8413 * tool PR 8456 * perf PR 8461 * perf PR 8388 * perf PR 8467 * perf PR 8471 * perf PR 8490 * perf PR 8751 * chore: fix format * perf PR 8657 * feat: improve lanelet search logic in getPredictedReferencePath() * sp develop remove non approved change (autowarefoundation#1611) Revert "feat: improve lanelet search logic in getPredictedReferencePath()" This reverts commit 5de95b0. * feat PR 8811 * fix PR 8973 * feat: improve lanelet search logic in getPredictedReferencePath() --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> Signed-off-by: temkei.kem <[email protected]> Signed-off-by: Kyoichi Sugahara <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: temkei.kem <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: danielsanchezaran <[email protected]> Co-authored-by: mkquda <[email protected]> Co-authored-by: Shohei Sakai <[email protected]>
saka1-s · Nov 9, 2024 · 46531aa · 46531aa
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diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/system/lru_cache.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/system/lru_cache.hpp
@@ -0,0 +1,142 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef TIER4_AUTOWARE_UTILS__SYSTEM__LRU_CACHE_HPP_
+#define TIER4_AUTOWARE_UTILS__SYSTEM__LRU_CACHE_HPP_
+
+#include <cstddef>
+#include <list>
+#include <optional>
+#include <unordered_map>
+#include <utility>
+
+namespace tier4_autoware_utils
+{
+
+/**
+ * @brief A template class for LRU (Least Recently Used) Cache.
+ *
+ * This class implements a simple LRU cache using a combination of a list and a hash map.
+ *
+ * @tparam Key The type of keys.
+ * @tparam Value The type of values.
+ * @tparam Map The type of underlying map, defaulted to std::unordered_map.
+ */
+template <typename Key, typename Value, template <typename...> class Map = std::unordered_map>
+class LRUCache
+{
+private:
+  size_t capacity_;                              ///< The maximum capacity of the cache.
+  std::list<std::pair<Key, Value>> cache_list_;  ///< List to maintain the order of elements.
+  Map<Key, typename std::list<std::pair<Key, Value>>::iterator>
+    cache_map_;  ///< Map for fast access to elements.
+
+public:
+  /**
+   * @brief Construct a new LRUCache object.
+   *
+   * @param size The capacity of the cache.
+   */
+  explicit LRUCache(size_t size) : capacity_(size) {}
+
+  /**
+   * @brief Get the capacity of the cache.
+   *
+   * @return The capacity of the cache.
+   */
+  [[nodiscard]] size_t capacity() const { return capacity_; }
+
+  /**
+   * @brief Insert a key-value pair into the cache.
+   *
+   * If the key already exists, its value is updated and it is moved to the front.
+   * If the cache exceeds its capacity, the least recently used element is removed.
+   *
+   * @param key The key to insert.
+   * @param value The value to insert.
+   */
+  void put(const Key & key, const Value & value)
+  {
+    auto it = cache_map_.find(key);
+    if (it != cache_map_.end()) {
+      cache_list_.erase(it->second);
+    }
+    cache_list_.push_front({key, value});
+    cache_map_[key] = cache_list_.begin();
+
+    if (cache_map_.size() > capacity_) {
+      auto last = cache_list_.back();
+      cache_map_.erase(last.first);
+      cache_list_.pop_back();
+    }
+  }
+
+  /**
+   * @brief Retrieve a value from the cache.
+   *
+   * If the key does not exist in the cache, std::nullopt is returned.
+   * If the key exists, the value is returned and the element is moved to the front.
+   *
+   * @param key The key to retrieve.
+   * @return The value associated with the key, or std::nullopt if the key does not exist.
+   */
+  std::optional<Value> get(const Key & key)
+  {
+    auto it = cache_map_.find(key);
+    if (it == cache_map_.end()) {
+      return std::nullopt;
+    }
+    cache_list_.splice(cache_list_.begin(), cache_list_, it->second);
+    return it->second->second;
+  }
+
+  /**
+   * @brief Clear the cache.
+   *
+   * This removes all elements from the cache.
+   */
+  void clear()
+  {
+    cache_list_.clear();
+    cache_map_.clear();
+  }
+
+  /**
+   * @brief Get the current size of the cache.
+   *
+   * @return The number of elements in the cache.
+   */
+  [[nodiscard]] size_t size() const { return cache_map_.size(); }
+
+  /**
+   * @brief Check if the cache is empty.
+   *
+   * @return True if the cache is empty, false otherwise.
+   */
+  [[nodiscard]] bool empty() const { return cache_map_.empty(); }
+
+  /**
+   * @brief Check if a key exists in the cache.
+   *
+   * @param key The key to check.
+   * @return True if the key exists, false otherwise.
+   */
+  [[nodiscard]] bool contains(const Key & key) const
+  {
+    return cache_map_.find(key) != cache_map_.end();
+  }
+};
+
+}  // namespace tier4_autoware_utils
+
+#endif  // TIER4_AUTOWARE_UTILS__SYSTEM__LRU_CACHE_HPP_
diff --git a/common/tier4_autoware_utils/test/src/system/test_lru_cache.cpp b/common/tier4_autoware_utils/test/src/system/test_lru_cache.cpp
@@ -0,0 +1,78 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "tier4_autoware_utils/system/lru_cache.hpp"
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <cstdint>
+#include <iostream>
+#include <utility>
+
+using tier4_autoware_utils::LRUCache;
+
+// Fibonacci calculation with LRU cache
+int64_t fibonacci_with_cache(int n, LRUCache<int, int64_t> * cache)
+{
+  if (n <= 1) return n;
+
+  if (cache->contains(n)) {
+    return *cache->get(n);
+  }
+  int64_t result = fibonacci_with_cache(n - 1, cache) + fibonacci_with_cache(n - 2, cache);
+  cache->put(n, result);
+  return result;
+}
+
+// Fibonacci calculation without cache
+int64_t fibonacci_no_cache(int n)
+{
+  if (n <= 1) return n;
+  return fibonacci_no_cache(n - 1) + fibonacci_no_cache(n - 2);
+}
+
+// Helper function to measure execution time
+template <typename Func, typename... Args>
+std::pair<int64_t, decltype(std::declval<Func>()(std::declval<Args>()...))> measure_time(
+  Func func, Args &&... args)
+{
+  auto start = std::chrono::high_resolution_clock::now();
+  auto result = func(std::forward<Args>(args)...);
+  auto end = std::chrono::high_resolution_clock::now();
+  return {std::chrono::duration_cast<std::chrono::microseconds>(end - start).count(), result};
+}
+
+// Test case to verify Fibonacci calculation results with and without cache
+TEST(FibonacciLRUCacheTest, CompareResultsAndPerformance)
+{
+  const int max_n = 40;                 // Test range
+  LRUCache<int, int64_t> cache(max_n);  // Cache with capacity set to max_n
+
+  for (int i = 0; i <= max_n; ++i) {
+    // Measure time for performance comparison
+    auto [time_with_cache, result_with_cache] =
+      measure_time([i, &cache]() { return fibonacci_with_cache(i, &cache); });
+    auto [time_without_cache, result_without_cache] =
+      measure_time([i]() { return fibonacci_no_cache(i); });
+
+    EXPECT_EQ(result_with_cache, result_without_cache) << "Mismatch at n = " << i;
+
+    // Print the calculation time
+    std::cout << "n = " << i << ": With Cache = " << time_with_cache
+              << " μs, Without Cache = " << time_without_cache << " μs\n";
+
+    // // Clear the cache after each iteration to ensure fair comparison
+    cache.clear();
+  }
+}
diff --git a/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
@@ -19,6 +19,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/transform_listener.hpp>
+#include <tier4_autoware_utils/system/lru_cache.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
@@ -31,7 +32,9 @@
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <lanelet2_core/Forward.h>
+#include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/Forward.h>
+#include <lanelet2_routing/LaneletPath.h>
 #include <lanelet2_traffic_rules/TrafficRules.h>
 
 #include <deque>
@@ -41,6 +44,28 @@
 #include <utility>
 #include <vector>
 
+namespace std
+{
+template <>
+struct hash<lanelet::routing::LaneletPaths>
+{
+  // 0x9e3779b9 is a magic number. See
+  // https://stackoverflow.com/questions/4948780/magic-number-in-boosthash-combine
+  size_t operator()(const lanelet::routing::LaneletPaths & paths) const
+  {
+    size_t seed = 0;
+    for (const auto & path : paths) {
+      for (const auto & lanelet : path) {
+        seed ^= hash<int64_t>{}(lanelet.id()) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U);
+      }
+      // Add a separator between paths
+      seed ^= hash<int>{}(0) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U);
+    }
+    return seed;
+  }
+};
+}  // namespace std
+
 namespace map_based_prediction
 {
 struct LateralKinematicsToLanelet
@@ -84,6 +109,7 @@ struct LaneletData
 struct PredictedRefPath
 {
   float probability;
+  double width;
   PosePath path;
   Maneuver maneuver;
 };
@@ -132,6 +158,9 @@ class MapBasedPredictionNode : public rclcpp::Node
   // Crosswalk Entry Points
   lanelet::ConstLanelets crosswalks_;
 
+  // Fences
+  lanelet::LaneletMapUPtr fence_layer_{nullptr};
+
   // Parameters
   bool enable_delay_compensation_;
   double prediction_time_horizon_;
@@ -194,7 +223,8 @@ class MapBasedPredictionNode : public rclcpp::Node
   void updateObjectsHistory(
     const std_msgs::msg::Header & header, const TrackedObject & object,
     const LaneletsData & current_lanelets_data);
-
+  std::optional<size_t> searchProperStartingRefPathIndex(
+    const TrackedObject & object, const PosePath & pose_path) const;
   std::vector<PredictedRefPath> getPredictedReferencePath(
     const TrackedObject & object, const LaneletsData & current_lanelets_data,
     const double object_detected_time);
@@ -217,7 +247,12 @@ class MapBasedPredictionNode : public rclcpp::Node
     const TrackedObject & object, const lanelet::routing::LaneletPaths & candidate_paths,
     const float path_probability, const ManeuverProbability & maneuver_probability,
     const Maneuver & maneuver, std::vector<PredictedRefPath> & reference_paths);
-  std::vector<PosePath> convertPathType(const lanelet::routing::LaneletPaths & paths);
+
+  mutable tier4_autoware_utils::LRUCache<
+    lanelet::routing::LaneletPaths, std::vector<std::pair<PosePath, double>>>
+    lru_cache_of_convert_path_type_{1000};
+  std::vector<std::pair<PosePath, double>> convertPathType(
+    const lanelet::routing::LaneletPaths & paths) const;
 
   void updateFuturePossibleLanelets(
     const TrackedObject & object, const lanelet::routing::LaneletPaths & paths);

diff --git a/perception/map_based_prediction/include/map_based_prediction/path_generator.hpp b/perception/map_based_prediction/include/map_based_prediction/path_generator.hpp
@@ -22,7 +22,11 @@
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
+#include <geometry_msgs/msg/quaternion.hpp>
 #include <geometry_msgs/msg/twist.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
+#include <tf2/LinearMath/Quaternion.h>
 
 #include <memory>
 #include <utility>
@@ -91,7 +95,7 @@ class PathGenerator
   PredictedPath generatePathForOffLaneVehicle(const TrackedObject & object);
 
   PredictedPath generatePathForOnLaneVehicle(
-    const TrackedObject & object, const PosePath & ref_paths);
+    const TrackedObject & object, const PosePath & ref_path, const double path_width = 0.0);
 
   PredictedPath generatePathForCrosswalkUser(
     const TrackedObject & object, const CrosswalkEdgePoints & reachable_crosswalk) const;
@@ -109,23 +113,34 @@ class PathGenerator
   // Member functions
   PredictedPath generateStraightPath(const TrackedObject & object) const;
 
-  PredictedPath generatePolynomialPath(const TrackedObject & object, const PosePath & ref_path);
+  PredictedPath generatePolynomialPath(
+    const TrackedObject & object, const PosePath & ref_path, const double path_width,
+    const double backlash_width) const;
 
   FrenetPath generateFrenetPath(
-    const FrenetPoint & current_point, const FrenetPoint & target_point, const double max_length);
+    const FrenetPoint & current_point, const FrenetPoint & target_point,
+    const double max_length) const;
   Eigen::Vector3d calcLatCoefficients(
-    const FrenetPoint & current_point, const FrenetPoint & target_point, const double T);
+    const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) const;
   Eigen::Vector2d calcLonCoefficients(
-    const FrenetPoint & current_point, const FrenetPoint & target_point, const double T);
+    const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) const;
+
+  std::vector<double> interpolationLerp(
+    const std::vector<double> & base_keys, const std::vector<double> & base_values,
+    const std::vector<double> & query_keys) const;
+  std::vector<tf2::Quaternion> interpolationLerp(
+    const std::vector<double> & base_keys, const std::vector<tf2::Quaternion> & base_values,
+    const std::vector<double> & query_keys) const;
 
   PosePath interpolateReferencePath(
-    const PosePath & base_path, const FrenetPath & frenet_predicted_path);
+    const PosePath & base_path, const FrenetPath & frenet_predicted_path) const;
 
   PredictedPath convertToPredictedPath(
     const TrackedObject & object, const FrenetPath & frenet_predicted_path,
-    const PosePath & ref_path);
+    const PosePath & ref_path) const;
 
-  FrenetPoint getFrenetPoint(const TrackedObject & object, const PosePath & ref_path);
+  FrenetPoint getFrenetPoint(
+    const TrackedObject & object, const geometry_msgs::msg::Pose & ref_pose) const;
 };
 }  // namespace map_based_prediction