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feat(lane_change): using frenet planner to generate lane change path when ego near terminal #9767

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feat(lane_change): using frenet planner to generate lane change path when ego near terminal #9767

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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Dec 24, 2024 •
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Description

This PR adds frenet planner to generate candidate path when ego is near terminal.

Related launcher's PR. autowarefoundation/autoware_launch#1290

Related links

Parent Issue:

  • Link

How was this PR tested?

  1. PSIM
  2. Evaluator TIER IV Internal link

Notes for reviewers

None.

ROS Parameter Changes

Additions and removals

Change type Parameter Name Type Default Value Description
Added trajectory.th_prepare_curvature double 0.03 If the maximum curvature of the prepare segment exceeds the threshold, the prepare segment is invalid.
Added frenet.enable bool 0.03 Enable frenet planner if ego is near terminal start.
Added frenet.th_yaw_diff bool 10.0 If the yaw diff between of the prepare segment's end and lane changing segment's start exceed the threshold , the lane changing segment is invalid.
Added frenet.th_curvature_smoothing bool 0.1 Filters and appends target path points with curvature below the threshold to candidate path.

Effects on system behavior

None.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Dec 24, 2024
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github-actions bot commented Dec 24, 2024 •
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Thank you for contributing to the Autoware project!

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Please ensure:

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-5068-lane-change-frenet branch 2 times, most recently from 4cae773 to 11e2774 Compare December 25, 2024 10:45
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 changed the title frenet planner feat(lane_change): using frenet planner to generate lane change path when ego near terminal Dec 26, 2024
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 mentioned this pull request Dec 26, 2024
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 marked this pull request as ready for review December 26, 2024 04:28
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-5068-lane-change-frenet branch 3 times, most recently from 66b4fe2 to 881afe1 Compare December 27, 2024 02:02
@zulfaqar-azmi-t4
frenet planner
2672c0b 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
minor refactoring
ea0e3f1 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
adding parameter
0668a28 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
Add diff th param
2a6d10a 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
limit curvature for prepare segment
c6cd9f5 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
minor refactoring
d6db912 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
print average curvature
ccceece 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
refactor
4c638ca 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
filter the path directly
08faa0b 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
fix some conflicts
3253f79 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-5068-lane-change-frenet branch from 6453e15 to 3253f79 Compare January 5, 2025 23:24
@zulfaqar-azmi-t4
include curvature smoothing
7befc78 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
document
95838e1 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jan 6, 2025
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Jan 6, 2025
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github-actions bot commented Jan 6, 2025

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9767/
Modified URLs:

@zulfaqar-azmi-t4
fix image folder
d8ca060 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
image size
5764ee7 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
doxygen
eab7afe 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
mkquda
mkquda reviewed Jan 6, 2025
View reviewed changes
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
@@ -906,6 +939,7 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi
| `trajectory.max_longitudinal_acc` | [m/s2] | double | maximum longitudinal acceleration for lane change | 1.0 |
| `trajectory.min_longitudinal_acc` | [m/s2] | double | maximum longitudinal deceleration for lane change | -1.0 |
| `trajectory.lane_changing_decel_factor` | [-] | double | longitudinal deceleration factor during lane changing phase | 0.5 |
| `trajectory.th_prepare_curvature` | [-] | double | If the maximum curvature of the prepare segment exceeds the threshold, the prepare segment is invalid. | 0.03 |
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I'm unsure about the use of this parameter, prepare segment is usually just a section of the current reference path, so why would it have invalid curvature?

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Yes it might when the lanelet itself have high curvature.|
For example
image

mkquda
mkquda reviewed Jan 6, 2025
View reviewed changes
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp Outdated
const LineString2d & lane_boundary, const bool shift_to_left)
{
const auto distance = (0.5 * common_data_ptr->bpp_param_ptr->vehicle_width + 0.1);
const auto offset = (shift_to_left ? 1.0 : -1.0) * distance; // invert direction
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why not use sign() function from here

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done 999cf89

mkquda
mkquda reviewed Jan 6, 2025
View reviewed changes
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp Outdated

std::vector<lane_change::TrajectoryGroup> generate_frenet_candidates(
const CommonDataPtr & common_data_ptr, const PathWithLaneId & prev_module_path,
const std::vector<LaneChangePhaseMetrics> & metrics)
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better to specify prep_metrics

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done 7037ea0

@zulfaqar-azmi-t4
add debug for state
36099e5 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
use sign function instead
999cf89 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
rename argument
7037ea0 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4
readme
ab53673 
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 6, 2025
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@mkquda mkquda mkquda left review comments

@maxime-clem maxime-clem maxime-clem approved these changes

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