Merge pull request #142 from una-auxme/139-feature-reduce-decision-tree

139 feature reduce decision tree

code/planning/behavior_agent/src/behavior_agent/behavior_tree.py

@@ -61,47 +61,7 @@ def grow_a_tree(role_name):
                                                  ("Leave Change")
                                              ])
                                 ]),
-                        Inverter(Selector("Overtaking", children=[
-                            behaviours.traffic_objects.NotSlowedByCarInFront
-                            ("Not Slowed By Car in Front?"),
-                            Selector("Number of Lanes", children=[
-                                Sequence("Multi Lane", children=[
-                                    behaviours.road_features.MultiLane("Multi Lane?"),
-                                    behaviours.road_features.LeftLaneAvailable
-                                    ("Left Lane Available?"),
-                                    behaviours.traffic_objects.WaitLeftLaneFree
-                                    ("Wait for Left Lane Free"),
-                                    behaviours.maneuvers.SwitchLaneLeft("Switch Lane Left")
-                                ]),
-                                Sequence("Single Lane", children=[
-                                    behaviours.road_features.SingleLineDotted
-                                    ("Single Lane with dotted Line?"),
-                                    behaviours.traffic_objects.WaitLeftLaneFree
-                                    ("Wait for Left Lane Free"),
-                                    behaviours.maneuvers.SwitchLaneLeft
-                                    ("Switch Lane Left"),
-                                    Selector("Driving on Left Side", children=[
-                                        Sequence("Overtake", children=[
-                                            behaviours.traffic_objects.OvertakingPossible
-                                            ("Overtaking Possible?"),
-                                            behaviours.maneuvers.Overtake("Overtake"),
-                                            behaviours.maneuvers.SwitchLaneRight
-                                            ("Switch Lane Right")
-                                        ]),
-                                        behaviours.maneuvers.SwitchLaneRight("Switch Lane Right")
-                                    ])
-                                ])
-                            ]),
-                            Running("Can't Overtake")
-                        ])),
-                        Sequence("Back to Right Lane", children=[
-                            behaviours.road_features.RightLaneAvailable("Right Lane Available"),
-                            behaviours.traffic_objects.NotSlowedByCarInFrontRight
-                            ("Not Slowed By Car in Front Right?"),
-                            behaviours.traffic_objects.
-                            WaitRightLaneFree("Wait for Right Lane Free"),
-                            behaviours.maneuvers.SwitchLaneRight("Switch Lane Right")
-                        ])
+
                     ]),
                     behaviours.maneuvers.Cruise("Cruise")
                 ])

doc/03_research/03_planning/00_paf23/01_Planning.md

@@ -6,7 +6,7 @@ Finding the optimal path from start to goal, taking into account the static and
 
 ### [PAF21 - 2](https://github.com/ll7/paf21-2)
 
-![Planning](Planning_paf21.png)
+![Planning](../../../00_assets/planning/Planning_paf21.png)
 
 Input:
 
@@ -55,7 +55,7 @@ Map Manager
 
 ### [Autoware](https://github.com/autowarefoundation/autoware)
 
-![https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/](Planning.png)
+![https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/](../../../00_assets/planning/Planning.png)
 
 Input:
 

doc/03_research/03_planning/00_paf23/02_PlanningPaf22.md

@@ -4,7 +4,7 @@
 
 ## Architecture
 
-![overview](overview.jpg)
+![overview](../../../00_assets/planning/overview.jpg)
 
 ### Preplanning
 

doc/03_research/03_planning/00_paf23/architecture.md → doc/03_research/03_planning/00_paf23/03_PlannedArchitecture.md

@@ -4,7 +4,7 @@ Provide  an overview for a possible planning architecture consisting of Global P
 
 ## Overview
 
-![overview](overview.png)
+![overview](../../../00_assets/planning/overview.png)
 
 The **Global Plan** gathers all data relevant to build a copy of the town the car is driving in. It also computes an optimal global path, which includes all waypoints. The Decision Making can order a recalculation of the global path.
 
@@ -19,7 +19,7 @@ Motions like lane changing must be approved by the decision making and they get
 
 ### Global Plan
 
-![overview](Globalplan.png)
+![overview](../../../00_assets/planning/Globalplan.png)
 
 *Map Generator:* Gathers map data from Carla and prepares it for the PrePlanner
 
@@ -69,7 +69,7 @@ See Behaviour Tree.
 
 ### Local Plan
 
-![Local Plan](localplan.png)
+![Local Plan](../../../00_assets/planning/localplan.png)
 
 *Local Preplan:* Segements the global path and calculates the middle of the lane. Is not called in every cycle.
 
@@ -128,4 +128,4 @@ See Behaviour Tree.
 
 Red must have for next Milestone, Orange needed for future milestones, Green can already be used or is not that important
 
-![prios](prios.png)
+![prios](../../../00_assets/planning/prios.png)

doc/03_research/03_planning/00_paf23/Local_planning_for_first_milestone.md → doc/03_research/03_planning/00_paf23/04_Local_planning_for_first_milestone.md

@@ -16,7 +16,7 @@ Julius Miller
 
 Paper: [Behavior Planning for Autonomous Driving: Methodologies, Applications, and Future Orientation](https://www.researchgate.net/publication/369181112_Behavior_Planning_for_Autonomous_Driving_Methodologies_Applications_and_Future_Orientation)
 
-![Overview_interfaces](overview_paper1.png)
+![Overview_interfaces](../../../00_assets/planning/overview_paper1.png)
 
 Rule-based planning
 
@@ -49,7 +49,7 @@ Leader, Track-Speed
 
 Github: [Decision Making with Behaviour Tree](https://github.com/kirilcvetkov92/Path-planning?source=post_page-----8db1575fec2c--------------------------------)
 
-![github_tree](BehaviorTree_medium.png)
+![github_tree](../../../00_assets/planning/BehaviorTree_medium.png)
 
 - No Intersection
 - Collision Detection in behaviour Tree
@@ -58,7 +58,7 @@ Paper: [Behavior Trees for
 decision-making in Autonomous
 Driving](https://www.diva-portal.org/smash/get/diva2:907048/FULLTEXT01.pdf)
 
-![Behaviour Tree](BT_paper.png)
+![Behaviour Tree](../../../00_assets/planning/BT_paper.png)
 
 - simple simulation
 - Car only drives straight
@@ -81,17 +81,17 @@ Low Level Decision:
 - Emergency Brake
 - ACC
 
-![localplan](localplan.png)
+![localplan](../../../00_assets/planning/localplan.png)
 
 Scenarios:
 
-![Intersection](intersection_scenario.png)
+![Intersection](../../../00_assets/planning/intersection_scenario.png)
 
 Left: Behaviour Intersection is triggered for motion planning, acc publishes speed. -> Lower speed is used to approach intersection
 
 Right: Behaviour Intersection is used for motion planning, acc is ignored (no object in front)
 
-![Overtake](overtaking_scenario.png)
+![Overtake](../../../00_assets/planning/overtaking_scenario.png)
 
 Left: Overtake gets triggered to maintain speed, acc is ignored