feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line #6680

danielsanchezaran · 2024-03-25T03:20:33Z

Description

With this PR an "ego back lane" is introduced, the aim of this lane is to exclude dynamic obstacles from run out consideration IF their predicted path crosses said lane. The aim is to eliminate false positive cases in which the run out module is wrongly activated when there is a pedestrian or bicycle behind the ego vehicle.

Example: the pedestrian whose predicted path touches the back lane (purple) is excluded from run out calculations.

Tests performed

PSim
Evaluator: TIER IV INTERNAL LINK

Notes for reviewers

Requires changes to launch: autowarefoundation/autoware_launch#935

Interface changes

Effects on system behavior

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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

planning/behavior_velocity_run_out_module/src/utils.cpp

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

takayuki5168 · 2024-03-26T04:59:28Z

planning/behavior_velocity_run_out_module/src/utils.cpp

+      const auto p = tier4_autoware_utils::calcOffsetPose(ego_pose, 0.0, half_line_length, 0.0);
+      return tier4_autoware_utils::createPoint(p.position.x, p.position.y, p.position.z);


tier4_autoware_utils::calcOffsetPose(ego_pose, 0.0, half_line_length, 0.0).position

is enough.

@takayuki5168 Ah! right thanks for the review

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

planning/behavior_velocity_run_out_module/src/utils.hpp

planning/behavior_velocity_run_out_module/src/debug.hpp

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

kosuke55 · 2024-03-26T10:10:32Z

planning/behavior_velocity_run_out_module/README.md

@@ -108,6 +108,14 @@ You can choose whether to use this feature by parameter of `use_partition_lanele

 ![brief](./docs/exclude_obstacles_by_partition.svg)

+##### Exclude obstacles that cross the ego vehicle's "cut line"
+
+This module can exclude can exclude obstacles that have predicted paths that come from behind the ego vehicle. It excludes obstacles if the their predicted path crosses the ego's "cut line". The "cut line" is generating a virtual line segment that is perpendicular to the ego vehicle and that passes through the ego's base link.


Suggested change

This module can exclude can exclude obstacles that have predicted paths that come from behind the ego vehicle. It excludes obstacles if the their predicted path crosses the ego's "cut line". The "cut line" is generating a virtual line segment that is perpendicular to the ego vehicle and that passes through the ego's base link.

This module can exclude obstacles that have predicted paths that come from behind the ego vehicle. It excludes obstacles if their predicted path crosses the ego's "cut line". The "cut line" is generating a virtual line segment that is perpendicular to the ego vehicle and that passes through the ego's base link.

(just confirmation)

This module can exclude obstacles that have predicted paths that come from BEHIND the ego vehicle.

the exclued targets are all objects that cross the cut line, not just the BEHIND?

You are right, the explanation was not clear, it excludes obstacles if they pass the back part of the ego by crossing the line. I think it is better now, please confirm, thanks for pointing it out @kosuke55

codecov · 2024-03-26T10:16:22Z

Codecov Report

Attention: Patch coverage is 18.60465% with 35 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (262ec55) to head (63f02b7).
Report is 9 commits behind head on main.

Files	Patch %	Lines
...ing/behavior_velocity_run_out_module/src/scene.cpp	31.57%	6 Missing and 7 partials ⚠️
...ing/behavior_velocity_run_out_module/src/utils.cpp	0.00%	11 Missing ⚠️
...ing/behavior_velocity_run_out_module/src/debug.cpp	18.18%	7 Missing and 2 partials ⚠️
...g/behavior_velocity_run_out_module/src/manager.cpp	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6680   +/-   ##
=======================================
  Coverage   14.78%   14.78%           
=======================================
  Files        1925     1925           
  Lines      132745   132785   +40     
  Branches    39535    39554   +19     
=======================================
+ Hits        19626    19634    +8     
- Misses      91147    91171   +24     
- Partials    21972    21980    +8

Flag	Coverage Δ		*Carryforward flag
differential	`17.93% <18.60%> (?)`
total	`14.78% <ø> (+<0.01%)`	⬆️	Carriedforward from be22578

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

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kosuke55 · 2024-03-26T10:18:55Z

planning/behavior_velocity_run_out_module/src/scene.cpp

+    // extract obstacles that cross the ego's back lane
+    if (!planner_param_.run_out.use_ego_cut_line) return partition_excluded_obstacles;
+
+    const auto ego_back_line_excluded_obstacles =
+      excludeObstaclesCrossingEgoBackLine(partition_excluded_obstacles, current_pose);
+    return ego_back_line_excluded_obstacles;


Suggested change

// extract obstacles that cross the ego's back lane

if (!planner_param_.run_out.use_ego_cut_line) return partition_excluded_obstacles;

const auto ego_back_line_excluded_obstacles =

excludeObstaclesCrossingEgoBackLine(partition_excluded_obstacles, current_pose);

return ego_back_line_excluded_obstacles;

if (!planner_param_.run_out.use_ego_cut_line) return partition_excluded_obstacles;

// extract obstacles that cross the ego's back lane

const auto ego_back_line_excluded_obstacles =

excludeObstaclesCrossingEgoBackLine(partition_excluded_obstacles, current_pose);

return ego_back_line_excluded_obstacles;

the comment place is better like this?

Done, thanks for the suggestion! @kosuke55

kosuke55 · 2024-03-26T10:23:08Z

planning/behavior_velocity_run_out_module/README.md

@@ -108,6 +108,14 @@ You can choose whether to use this feature by parameter of `use_partition_lanele

 ![brief](./docs/exclude_obstacles_by_partition.svg)

+##### Exclude obstacles that cross the ego vehicle's "cut line"
+
+This module can exclude can exclude obstacles that have predicted paths that come from behind the ego vehicle. It excludes obstacles if the their predicted path crosses the ego's "cut line". The "cut line" is generating a virtual line segment that is perpendicular to the ego vehicle and that passes through the ego's base link.


(just confirmation)

This module can exclude obstacles that have predicted paths that come from BEHIND the ego vehicle.

the exclued targets are all objects that cross the cut line, not just the BEHIND?

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

kosuke55

LGTM! thanks!!

… back line (autowarefoundation#6680) * add method to ignore target obstacles that cross ego cut lane Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP add debug support Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add params and finish debug marker Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change lane to line Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * use autoware utils to get the cut line Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * simplify code wit calcOffsetPose Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Update readme and eliminate unused code Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update readme Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * eliminate unused function Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * readme Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * comments and readme Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * eliminate unused include Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * typo Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * rename param for consistency Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change lane to line for consistency Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * rename for clarity, add brief Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix indentation Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update description Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * lane ->line Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * lane -> line Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

#1574) feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680) * add method to ignore target obstacles that cross ego cut lane * WIP add debug support * add params and finish debug marker * change lane to line * use autoware utils to get the cut line * simplify code wit calcOffsetPose * Update readme and eliminate unused code * update readme * eliminate unused function * readme * comments and readme * eliminate unused include * typo * rename param for consistency * change lane to line for consistency * rename for clarity, add brief * fix indentation * update description * lane ->line * lane -> line --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

tier4#1574) feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680) * add method to ignore target obstacles that cross ego cut lane * WIP add debug support * add params and finish debug marker * change lane to line * use autoware utils to get the cut line * simplify code wit calcOffsetPose * Update readme and eliminate unused code * update readme * eliminate unused function * readme * comments and readme * eliminate unused include * typo * rename param for consistency * change lane to line for consistency * rename for clarity, add brief * fix indentation * update description * lane ->line * lane -> line --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* feat(lane_change): cancel hysteresis (autowarefoundation#6288) * feat(lane_change): cancel hysteresis Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update documentation Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix the explanation of the hysteresis count Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add parked parked RSS Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * support new perception_reproducer Signed-off-by: temkei.kem <1041084556@qq.com> * move files Signed-off-by: temkei.kem <1041084556@qq.com> * remove old files. Signed-off-by: temkei.kem <1041084556@qq.com> * fix pre-commit err Signed-off-by: temkei.kem <1041084556@qq.com> * style(pre-commit): autofix * feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (#1571) Refactor turn signal decider logic and add support for detecting turn signals in turn lanes Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> * fix a small bug about perception reproducer * style(pre-commit): autofix * feat(out_of_lane): ignore lanelets beyond the last path point (#1554) * feat(out_of_lane): ignore lanelets beyond the last path point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… (#1574) feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680) * add method to ignore target obstacles that cross ego cut lane * WIP add debug support * add params and finish debug marker * change lane to line * use autoware utils to get the cut line * simplify code wit calcOffsetPose * Update readme and eliminate unused code * update readme * eliminate unused function * readme * comments and readme * eliminate unused include * typo * rename param for consistency * change lane to line for consistency * rename for clarity, add brief * fix indentation * update description * lane ->line * lane -> line --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix(lane_change): change stopping logic (RT0-33761) (#1581) * RT0-33761 fix lane change stopping logic Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * copied from awf main tested implementation Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * doxygen comment Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * perf: PR 7237 autowarefoundation#7237 * perf RP8406 autowarefoundation#8406 * perf PR 8416 * perf PR 8427 * perf PR 8413 * tool PR 8456 * perf PR 8461 * perf PR 8388 * perf PR 8467 * perf PR 8471 * perf PR 8490 * perf PR 8751 * chore: fix format * perf PR 8657 * feat: improve lanelet search logic in getPredictedReferencePath() * sp develop remove non approved change (#1611) Revert "feat: improve lanelet search logic in getPredictedReferencePath()" This reverts commit 5de95b0. * feat PR 8811 * fix PR 8973 * feat: improve lanelet search logic in getPredictedReferencePath() --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: temkei.kem <1041084556@qq.com> Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: temkei.kem <1041084556@qq.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>

* feat(lane_change): cancel hysteresis (autowarefoundation#6288) * feat(lane_change): cancel hysteresis Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update documentation Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix the explanation of the hysteresis count Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add parked parked RSS Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * support new perception_reproducer Signed-off-by: temkei.kem <1041084556@qq.com> * move files Signed-off-by: temkei.kem <1041084556@qq.com> * remove old files. Signed-off-by: temkei.kem <1041084556@qq.com> * fix pre-commit err Signed-off-by: temkei.kem <1041084556@qq.com> * style(pre-commit): autofix * feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (autowarefoundation#1571) Refactor turn signal decider logic and add support for detecting turn signals in turn lanes Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> * fix a small bug about perception reproducer * style(pre-commit): autofix * feat(out_of_lane): ignore lanelets beyond the last path point (autowarefoundation#1554) * feat(out_of_lane): ignore lanelets beyond the last path point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… (autowarefoundation#1574) feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680) * add method to ignore target obstacles that cross ego cut lane * WIP add debug support * add params and finish debug marker * change lane to line * use autoware utils to get the cut line * simplify code wit calcOffsetPose * Update readme and eliminate unused code * update readme * eliminate unused function * readme * comments and readme * eliminate unused include * typo * rename param for consistency * change lane to line for consistency * rename for clarity, add brief * fix indentation * update description * lane ->line * lane -> line --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix(lane_change): change stopping logic (RT0-33761) (autowarefoundation#1581) * RT0-33761 fix lane change stopping logic Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * copied from awf main tested implementation Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * doxygen comment Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * perf: PR 7237 autowarefoundation#7237 * perf RP8406 autowarefoundation#8406 * perf PR 8416 * perf PR 8427 * perf PR 8413 * tool PR 8456 * perf PR 8461 * perf PR 8388 * perf PR 8467 * perf PR 8471 * perf PR 8490 * perf PR 8751 * chore: fix format * perf PR 8657 * feat: improve lanelet search logic in getPredictedReferencePath() * sp develop remove non approved change (autowarefoundation#1611) Revert "feat: improve lanelet search logic in getPredictedReferencePath()" This reverts commit 5de95b0. * feat PR 8811 * fix PR 8973 * feat: improve lanelet search logic in getPredictedReferencePath() --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: temkei.kem <1041084556@qq.com> Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: temkei.kem <1041084556@qq.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>

danielsanchezaran added 3 commits March 25, 2024 09:01

add method to ignore target obstacles that cross ego cut lane

8a2ed10

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

WIP add debug support

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add params and finish debug marker

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github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Mar 25, 2024

change lane to line

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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

danielsanchezaran marked this pull request as ready for review March 26, 2024 03:35

danielsanchezaran requested review from kosuke55, mkuri, shmpwk, takayuki5168, TomohitoAndo and tkimura4 as code owners March 26, 2024 03:35

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feat(run_out_module): new params for run out, add ego cut lane autowarefoundation/autoware_launch#935

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use autoware utils to get the cut line

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simplify code wit calcOffsetPose

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Update readme and eliminate unused code

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update readme

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eliminate unused function

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comments and readme

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danielsanchezaran added 9 commits March 27, 2024 08:33

eliminate unused include

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typo

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rename param for consistency

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change lane to line for consistency

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rename for clarity, add brief

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fix indentation

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update description

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lane ->line

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lane -> line

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danielsanchezaran merged commit a0bac37 into autowarefoundation:main Mar 27, 2024
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feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… tier4/autoware.universe#1574

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		const auto p = tier4_autoware_utils::calcOffsetPose(ego_pose, 0.0, half_line_length, 0.0);
		return tier4_autoware_utils::createPoint(p.position.x, p.position.y, p.position.z);

	This module can exclude can exclude obstacles that have predicted paths that come from behind the ego vehicle. It excludes obstacles if the their predicted path crosses the ego's "cut line". The "cut line" is generating a virtual line segment that is perpendicular to the ego vehicle and that passes through the ego's base link.
	This module can exclude obstacles that have predicted paths that come from behind the ego vehicle. It excludes obstacles if their predicted path crosses the ego's "cut line". The "cut line" is generating a virtual line segment that is perpendicular to the ego vehicle and that passes through the ego's base link.

feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line #6680

feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line #6680

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danielsanchezaran commented Mar 25, 2024 • edited Loading

Description

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Tests performed

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Interface changes

Effects on system behavior

Pre-review checklist for the PR author

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