feat(dynamic_avoidance): object polygon based drivable area generation #4598

takayuki5168 · 2023-08-11T15:02:32Z

Description

Dynamic obstacles' polygons to avoid are removed from the drivable area in the dynamic avoidance module.

Currently, the polygons are generated on the ego's path frame.
The method has a limitation case as follows.

Ideally, the polygons should be generated on the object's path frame as follows, resulting in successful avoidance.

By default, this PR's change is not used since the object path is unstable for now.
If it becomes stable, the polygon generation method will be the object path frame.

Tests performed

planning simulator

Effects on system behavior

Nothing

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

codecov · 2023-08-11T15:32:38Z

Codecov Report

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

Comparison is base (2b7afb1) 14.83% compared to head (872afcc) 14.83%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4598      +/-   ##
==========================================
- Coverage   14.83%   14.83%   -0.01%     
==========================================
  Files        1529     1529              
  Lines      105769   105799      +30     
  Branches    32221    32240      +19     
==========================================
  Hits        15696    15696              
- Misses      72914    72943      +29     
- Partials    17159    17160       +1

Flag	Coverage Δ		*Carryforward flag
differential	`13.08% <0.00%> (?)`
total	`14.84% <ø> (+<0.01%)`	⬆️	Carriedforward from 2b7afb1

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

Files Changed	Coverage Δ
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	`0.00% <ø> (ø)`
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	`0.00% <0.00%> (ø)`
...ner/src/scene_module/dynamic_avoidance/manager.cpp	`0.00% <0.00%> (ø)`

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

kosuke55

cool!

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…tory (#4549) * add feature for getting predicted path deviation from trajectory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix for build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix topic name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * minor refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change function name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add control validator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * add max_deviation calculation Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * update launch Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * change maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * feat(dynamic_avoidance): object polygon based drivable area generation (#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update README Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply clang-tidy check Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update control/control_validator/include/control_validator/utils.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug code Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…tory (autowarefoundation#4549) * add feature for getting predicted path deviation from trajectory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix for build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix topic name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * minor refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change function name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add control validator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * add max_deviation calculation Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * update launch Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * change maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * feat(dynamic_avoidance): object polygon based drivable area generation (autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update README Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply clang-tidy check Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update control/control_validator/include/control_validator/utils.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug code Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…tory (autowarefoundation#4549) * add feature for getting predicted path deviation from trajectory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix for build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix topic name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * minor refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change function name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add control validator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * add max_deviation calculation Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * update launch Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * change maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * feat(dynamic_avoidance): object polygon based drivable area generation (autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update README Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply clang-tidy check Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update control/control_validator/include/control_validator/utils.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug code Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

feat(dynamic_avoidance): object polygon based drivable area generation

872afcc

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 11, 2023

takayuki5168 marked this pull request as ready for review August 11, 2023 15:02

takayuki5168 requested review from rej55, kosuke55, kyoichi-sugahara, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, tkimura4, purewater0901 and zulfaqar-azmi-t4 as code owners August 11, 2023 15:02

takayuki5168 mentioned this pull request Aug 11, 2023

feat(autoware_launch): add polygon_generation_method in dynamic_avoidance autowarefoundation/autoware_launch#508

Merged

4 tasks

takayuki5168 assigned kosuke55 Aug 11, 2023

takayuki5168 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 11, 2023

kosuke55 approved these changes Aug 12, 2023

View reviewed changes

takayuki5168 merged commit 58d8e8e into autowarefoundation:main Aug 12, 2023

takayuki5168 deleted the feat/object-polygon-based-dynamic-avoidance branch August 12, 2023 04:00

kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Aug 12, 2023

feat(dynamic_avoidance): object polygon based drivable area generation (

d4a18c0

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

tier4-autoware-public-bot bot mentioned this pull request Aug 14, 2023

chore: sync upstream tier4/autoware.universe#724

Merged

LeoDriveProject pushed a commit to leo-drive/autoware.universe.golf that referenced this pull request Aug 16, 2023

feat(dynamic_avoidance): object polygon based drivable area generation (

d76bc93

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Aug 21, 2023

feat(dynamic_avoidance): object polygon based drivable area generation (

6285604

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 added a commit to tier4/autoware.universe that referenced this pull request Aug 30, 2023

feat(dynamic_avoidance): object polygon based drivable area generation (

861eeab

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 added a commit to tier4/autoware.universe that referenced this pull request Nov 26, 2023

feat(dynamic_avoidance): object polygon based drivable area generation (

d3ea00e

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 added a commit to tier4/autoware.universe that referenced this pull request Dec 25, 2023

feat(dynamic_avoidance): object polygon based drivable area generation (

222b47d

autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(dynamic_avoidance): object polygon based drivable area generation #4598

feat(dynamic_avoidance): object polygon based drivable area generation #4598

takayuki5168 commented Aug 11, 2023 •

edited

Loading

codecov bot commented Aug 11, 2023 •

edited

Loading

kosuke55 left a comment

feat(dynamic_avoidance): object polygon based drivable area generation #4598

feat(dynamic_avoidance): object polygon based drivable area generation #4598

Conversation

takayuki5168 commented Aug 11, 2023 • edited Loading

Description

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Aug 11, 2023 • edited Loading

Codecov Report

kosuke55 left a comment

Choose a reason for hiding this comment

takayuki5168 commented Aug 11, 2023 •

edited

Loading

codecov bot commented Aug 11, 2023 •

edited

Loading