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feat(avoidance): improve avoidance judgement logic for pedestrian & bicycle #4016

Merged
merged 4 commits into from
Jun 23, 2023
Merged

feat(avoidance): improve avoidance judgement logic for pedestrian & bicycle #4016

merged 4 commits into from
Jun 23, 2023

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satoshi-ota
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@satoshi-ota satoshi-ota commented Jun 20, 2023 •
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Description

I would like to enable avoidance behavior for non car-like objects. (e.g. pedestrian, bicycle)
But if I set the flag true, in following situation, the module executes avoidance maneuver for pedestrian that are stopping in front of the crosswalk. I think it is little bit a strange behavior, and it is better not avoid objects around crosswalk.

simplescreenrecorder-2023-06-21_11.48.58.mp4

In this PR, the module doesn't avoid crosswalk user (PEDESTRIAN, BICYCLE) arround the crosswalk lanelet.

simplescreenrecorder-2023-06-21_10.31.25.mp4

Tests performed

Effects on system behavior

Not applicable.

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jun 20, 2023
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codecov bot commented Jun 20, 2023 •
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Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (3b162aa) 14.31% compared to head (d0196bf) 14.31%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #4016      +/-   ##
==========================================
- Coverage   14.31%   14.31%   -0.01%     
==========================================
  Files        1557     1557              
  Lines      106900   106922      +22     
  Branches    30777    30791      +14     
==========================================
  Hits        15301    15301              
- Misses      75028    75050      +22     
  Partials    16571    16571
Flag Coverage Δ *Carryforward flag
differential 12.68% <0.00%> (?)
total 14.31% <ø> (ø) Carriedforward from 3b162aa

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp 4.13% <0.00%> (-0.01%) ⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp 2.62% <0.00%> (-0.11%) ⬇️

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@satoshi-ota satoshi-ota force-pushed the feat/avoid-non-vehicle branch from e1eea17 to f703927 Compare June 21, 2023 01:32
@satoshi-ota satoshi-ota marked this pull request as ready for review June 21, 2023 03:06
@satoshi-ota satoshi-ota force-pushed the feat/avoid-non-vehicle branch 4 times, most recently from aaa3d70 to 4534539 Compare June 22, 2023 11:37
@satoshi-ota
feat(avoidance): don't avoid pedestrian and bicycle on crosswalk
b3a3c99 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
feat(avoidance): avoid pedestrian/bicycle near centerline
7f1ae93 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
feat(utils): use geometry distance
1c72df1 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota
chore(avoidance): add comment
d0196bf 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota satoshi-ota force-pushed the feat/avoid-non-vehicle branch from 4534539 to d0196bf Compare June 23, 2023 00:12
kyoichi-sugahara
kyoichi-sugahara approved these changes Jun 23, 2023
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LGTM
(couldn't find part to improve...)

@satoshi-ota satoshi-ota merged commit f68374b into autowarefoundation:main Jun 23, 2023
@satoshi-ota satoshi-ota deleted the feat/avoid-non-vehicle branch June 23, 2023 03:04
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Jun 23, 2023
@satoshi-ota
feat(avoidance): improve avoidance judgement logic for pedestrian & b…
5e70762 
…icycle (autowarefoundation#4016)

* feat(avoidance): don't avoid pedestrian and bicycle on crosswalk

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): avoid pedestrian/bicycle near centerline

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(utils): use geometry distance

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* chore(avoidance): add comment

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota added a commit to satoshi-ota/autoware.universe that referenced this pull request Jun 23, 2023
@satoshi-ota
feat(avoidance): improve avoidance judgement logic for pedestrian & b…
fbb9a20 
…icycle (autowarefoundation#4016)

* feat(avoidance): don't avoid pedestrian and bicycle on crosswalk

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): avoid pedestrian/bicycle near centerline

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(utils): use geometry distance

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* chore(avoidance): add comment

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tkimura4 pushed a commit to tier4/autoware.universe that referenced this pull request Jun 26, 2023
@satoshi-ota
hotfix(avoidance): cherry pick (#616)
3049b33 
* feat(avoidance): add hysteresis to avoidance necessity check (autowarefoundation#3880)

* feat(avoidance): add hysteresis factor to avoid necessity check

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance_by_lc): add hysteresis factor to avoid necessity check

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(utils): use lambda

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): improve stop behavior under decel/jerk constraints option (autowarefoundation#3978)

* feat(avoidance): add option to decel within constraints

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* chore(avoidance): add comments

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(utils): merge similar functions

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): can set stop/move judge threshold for each object class (autowarefoundation#3998)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): ignore behind unavoidable objects (autowarefoundation#4034)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): improve avoidance judgement logic for pedestrian & bicycle (autowarefoundation#4016)

* feat(avoidance): don't avoid pedestrian and bicycle on crosswalk

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(avoidance): avoid pedestrian/bicycle near centerline

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(utils): use geometry distance

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* chore(avoidance): add comment

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): ignore objects less than execution threshold (autowarefoundation#3595)

fix(avoidance): ignore objects whose shift length is less than execution threshold

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): not init rtc status at onProcessEntry (autowarefoundation#3804)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): update logic to keep waiting approval (autowarefoundation#4059)

* revert "fix(avoidance): don't clear waiting approval if raw shift line exists (autowarefoundation#4012)"

This reverts commit 8577563.

* fix(avoidance): update logic to keep waiting approval

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): fix invalid cherry pick

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@tkimura4 tkimura4 mentioned this pull request Jun 26, 2023
Merged
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@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jun 26, 2023
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@kyoichi-sugahara kyoichi-sugahara kyoichi-sugahara approved these changes

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