Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(goal_planner): add extra front margin for collision check considering stopping distance #4674

Merged
merged 4 commits into from
Aug 22, 2023

Conversation

kosuke55
Copy link
Contributor

@kosuke55 kosuke55 commented Aug 20, 2023

Description

currently, the collision check margin is the same value in any direction.
In this PR, add extra front margin dynamically considering stopping distance.

🤖 Generated by Copilot at 84fbda8

This pull request enhances the goal planner module of the behavior path planner by using spline interpolation and extra stopping margin for pull over path planning. It adds a new parameter object_recognition_collision_check_extra_max_stopping_margin to control the extra margin and updates the collision check functions and the documentation accordingly. It also modifies the files goal_planner_module.cpp, goal_planner.param.yaml, goal_planner_parameters.hpp, utils.hpp, manager.cpp, and utils.cpp.

Related links

autowarefoundation/autoware_launch#520

Tests performed

psim

goal_planner_front_extra_margin-2023-08-21_01.12.42.mp4

https://evaluation.tier4.jp/evaluation/reports/466af58f-2513-5a1c-9df3-efcffe9bae0e?project_id=prd_jt

Notes for reviewers

Interface changes

none

Effects on system behavior

none

Pre-review checklist for the PR author

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

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

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.
  • The PR is ready for merge.

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

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Aug 20, 2023
@kosuke55 kosuke55 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 20, 2023
@codecov
Copy link

codecov bot commented Aug 20, 2023

Codecov Report

Patch coverage has no change and project coverage change: -0.08% ⚠️

Comparison is base (c3a2f61) 14.88% compared to head (234b0ed) 14.81%.
Report is 9 commits behind head on main.

Additional details and impacted files
@@            Coverage Diff             @@
##             main    #4674      +/-   ##
==========================================
- Coverage   14.88%   14.81%   -0.08%     
==========================================
  Files        1549     1549              
  Lines      106955   107528     +573     
  Branches    32790    33194     +404     
==========================================
+ Hits        15925    15930       +5     
- Misses      73636    74172     +536     
- Partials    17394    17426      +32     
Flag Coverage Δ *Carryforward flag
differential 13.21% <0.00%> (?)
total 14.88% <ø> (+<0.01%) ⬆️ Carriedforward from 512d48d

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

Files Changed Coverage Δ
...nner/include/behavior_path_planner/utils/utils.hpp 45.45% <ø> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp 6.50% <0.00%> (-0.05%) ⬇️
..._planner/src/scene_module/goal_planner/manager.cpp 8.38% <0.00%> (-0.17%) ⬇️
...ner/src/utils/path_safety_checker/safety_check.cpp 31.74% <0.00%> (-2.74%) ⬇️

... and 6 files with indirect coverage changes

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

…ering stopping distance

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@kosuke55 kosuke55 force-pushed the feat/extra_front_margin branch from 84fbda8 to 512d48d Compare August 21, 2023 16:10
@kosuke55
Copy link
Contributor Author

when object_recognition_collision_check_margin: 0.5 ego can not restart because of surround_obstacle_checker

surround_check_distance: 0.5 # if objects exist in this distance, transit to "exist-surrounding-obstacle" status [m]

image

Copy link
Contributor

@kyoichi-sugahara kyoichi-sugahara left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM

planning/behavior_path_planner/src/utils/utils.cpp Outdated Show resolved Hide resolved
@kosuke55
Copy link
Contributor Author

when object_recognition_collision_check_margin: 0.5 ego can not restart because of surround_obstacle_checker

changing to 0.6m fixed the issue.

https://evaluation.tier4.jp/evaluation/reports/466af58f-2513-5a1c-9df3-efcffe9bae0e?project_id=prd_jt

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@kosuke55 kosuke55 merged commit 00dfb14 into main Aug 22, 2023
@kosuke55 kosuke55 deleted the feat/extra_front_margin branch August 22, 2023 10:49
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Aug 23, 2023
…ering stopping distance (autowarefoundation#4674)

* feat(goal_planner): add extra front margin for collision check considering stopping distance

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* move safety_check

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* rename args and params

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* margin 0.6 and add comments

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55 added a commit to tier4/autoware.universe that referenced this pull request Aug 23, 2023
…ering stopping distance (autowarefoundation#4674)

* feat(goal_planner): add extra front margin for collision check considering stopping distance

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* move safety_check

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* rename args and params

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* margin 0.6 and add comments

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55 added a commit to tier4/autoware.universe that referenced this pull request Aug 24, 2023
…ering stopping distance (autowarefoundation#4674)

* feat(goal_planner): add extra front margin for collision check considering stopping distance

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* move safety_check

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* rename args and params

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* margin 0.6 and add comments

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix build error

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
kosuke55 added a commit to tier4/autoware.universe that referenced this pull request Sep 4, 2023
…ering stopping distance (autowarefoundation#4674)

* feat(goal_planner): add extra front margin for collision check considering stopping distance

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* move safety_check

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* rename args and params

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* margin 0.6 and add comments

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55 added a commit to tier4/autoware.universe that referenced this pull request Sep 12, 2023
…ering stopping distance (autowarefoundation#4674)

* feat(goal_planner): add extra front margin for collision check considering stopping distance

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* move safety_check

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* rename args and params

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* margin 0.6 and add comments

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix build error

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

extra margin
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
component:planning Route planning, decision-making, and navigation. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
Projects
None yet
Development

Successfully merging this pull request may close these issues.

3 participants