140 feature create an integrated acc with the collision node #147

samuelkuehnel · 2023-12-17T12:54:26Z

Description

In this PR a node for the collision check and ACC are created, as well as a test node to simulate them independently. The Collision Check detects collision based on the minimum distance to an object in front and the ACC publishes a speed to keep the distance to this object.

Fixes #140

Type of change

Please delete options that are not relevant.
__

New feature (non-breaking change which adds functionality)

Does this PR introduce a breaking change?

No

Most important changes

New Collision Check

Checklist:

My code follows the style guidelines of this project
I have performed a self-review of my own code
I have commented my code, particularly in hard-to-understand areas
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

and subscribers created

github-actions · 2023-12-17T13:24:29Z

Simulation results

Metric	Value
Avg. driving score	0.006825
Avg. route completion	0.015
Avg. infraction penalty	0.455
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	930.763
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	930.763
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	930.763
Min speed infractions	0.0

…-node' of https://github.com/una-auxme/paf23 into 140-feature-create-an-integrated-acc-with-the-collision-node

github-actions · 2023-12-17T17:47:08Z

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

github-actions · 2023-12-17T17:59:39Z

Simulation results

Metric	Value
Avg. driving score	0.006825
Avg. route completion	0.015
Avg. infraction penalty	0.455
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	930.763
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	930.763
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	930.763
Min speed infractions	0.0

github-actions · 2023-12-17T18:09:12Z

Simulation results

Metric	Value
Avg. driving score	0.008808
Avg. route completion	0.035
Avg. infraction penalty	0.336384
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	620.596
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.002
Route deviations	0.0
Route timeouts	206.865
Agent blocked	206.865
Yield emergency vehicles infractions	0.0
Scenario timeouts	206.865
Min speed infractions	0.0

github-actions · 2023-12-17T18:49:45Z

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

github-actions · 2023-12-17T18:59:14Z

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

github-actions · 2023-12-17T19:08:50Z

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

JuliusMiller · 2023-12-18T11:34:58Z

code/planning/global_planner/launch/global_planner.launch

@@ -1,12 +1,12 @@
 <launch>
-  <!--
+
    <node pkg="planning" type="dev_global_route.py" name="DevGlobalRoute" output="screen">


Should this node be active in the main branch ?

I commented out the dev node

JuliusMiller · 2023-12-18T11:37:00Z

code/planning/local_planner/src/ACC.py

+            callback=self.__current_position_callback,
+            qos_profile=1)
+
+        # Publish desiored speed to acting


Publish desired speed to motion planning

github-actions · 2023-12-19T00:41:25Z

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

ACC now permanently checking the distance

JuliusMiller

Nice

…e-collision-node

github-actions · 2023-12-19T17:17:53Z

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

samuelkuehnel added 9 commits December 7, 2023 17:02

feat: added speed calculation for Object

d7a5daa

fix: unused imports

cda33e0

feat: ACC Node added, Collision check cleared

35bc104

feat: Collision Check node finished and ACC publishers

91e519e

and subscribers created

fix: Comments and run function

aeb3835

feat: dev env created

273f746

feat: test cases and test node

add8190

feat: Testing done

d9416aa

fix: removed test code

f93dadf

samuelkuehnel added the planning label Dec 17, 2023

samuelkuehnel added this to the Average Driving Score of 0.10 milestone Dec 17, 2023

samuelkuehnel requested a review from JuliusMiller December 17, 2023 12:54

samuelkuehnel self-assigned this Dec 17, 2023

samuelkuehnel linked an issue Dec 17, 2023 that may be closed by this pull request

[Feature]: Create an ACC Node #140

Closed

1 task

samuelkuehnel and others added 4 commits December 17, 2023 18:22

fix: linter error

7f9c51f

feat: no ACC when emergency

c17713e

fix: remove unused subscriber

37fbe5e

Merge branch '140-feature-create-an-integrated-acc-with-the-collision…

4fc470d

…-node' of https://github.com/una-auxme/paf23 into 140-feature-create-an-integrated-acc-with-the-collision-node

samuelkuehnel added 3 commits December 17, 2023 19:36

doc: ACC documentation added

e394ad0

Update local_planning.md

f0f208d

doc: removed old file

868885e

JuliusMiller reviewed Dec 18, 2023

View reviewed changes

fix: Typos and partially implemented Feedback from sprint review

0a86002

samuelkuehnel mentioned this pull request Dec 19, 2023

[Feature]: Create a collision check #113

Closed

1 task

samuelkuehnel linked an issue Dec 19, 2023 that may be closed by this pull request

[Feature]: Create a collision check #113

Closed

1 task

samuelkuehnel added 2 commits December 19, 2023 12:45

fix: implemented Feedback from review

30007b5

ACC now permanently checking the distance

feat: testing done and perception distance msg adapted

9375a66

JuliusMiller approved these changes Dec 19, 2023

View reviewed changes

Merge branch 'main' into 140-feature-create-an-integrated-acc-with-th…

8e55611

…e-collision-node

JuliusMiller merged commit 84fc959 into main Dec 19, 2023
3 checks passed

JuliusMiller deleted the 140-feature-create-an-integrated-acc-with-the-collision-node branch December 19, 2023 17:24

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140 feature create an integrated acc with the collision node #147

140 feature create an integrated acc with the collision node #147

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github-actions bot commented Dec 19, 2023

140 feature create an integrated acc with the collision node #147

140 feature create an integrated acc with the collision node #147

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samuelkuehnel commented Dec 17, 2023

Description

Type of change

Does this PR introduce a breaking change?

Most important changes

Checklist:

github-actions bot commented Dec 17, 2023

Simulation results

github-actions bot commented Dec 17, 2023

Simulation results

github-actions bot commented Dec 17, 2023

Simulation results

github-actions bot commented Dec 17, 2023

Simulation results

github-actions bot commented Dec 17, 2023

Simulation results

github-actions bot commented Dec 17, 2023

Simulation results

github-actions bot commented Dec 17, 2023

Simulation results

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Simulation results

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github-actions bot commented Dec 19, 2023

Simulation results