feat(behavior_path_planner_common): modify drivable area expansion to be able to avoid static objects

[mkquda]

Description

Drivable area expansion has the option to avoid expanding in the path of dynamic objects. However this feature is disabled by default as it can be unstable and put too much restriction on Ego motion around corners and tight turns.

At tight turns drivable area is expanded considerably specially in case of large Ego vehicle, and Ego can exceed its current lane boundaries, as a result there is a higher chance of collision if there are nearby obstacles and the point of turning, like shown in the image below.

To address this, this PR modifies the drivable area expansion to able to avoid static objects explicitly without having to avoid all dynamic objects.

The following image shows the behavior with and without this feature.

Related links

Parent Issue:

• Link

How was this PR tested?

• PSIM
• Internal TIER IV Evaluator

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	object_exclusion.exclude_static	bool	true	if true, the drivable area is not expanded over static objects
Added	object_exclusion.th_stopped_object_velocity	double	1.0	[m/s] velocity threshold for static objects

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	dynamic_objects.avoid	bool	false	if true, the drivable area is not expanded in the predicted path of dynamic objects
Old	dynamic_objects.extra_footprint_offset.front	double	0.5	[m] extra length to add to the front of the dynamic object footprint
Old	dynamic_objects.extra_footprint_offset.rear	double	0.5	[m] extra length to add to the rear of the dynamic object footprint
Old	dynamic_objects.extra_footprint_offset.left	double	0.5	[m] extra length to add to the left of the dynamic object footprint
Old	dynamic_objects.extra_footprint_offset.right	double	0.5	[m] extra length to add to the right of the dynamic object footprint
New	object_exclusion.exclude_dynamic	bool	false	if true, the drivable area is not expanded in the predicted path of dynamic objects
New	object_exclusion.safety_margin.front	double	0.75	[m] extra length to add to the front of the dynamic object footprint
New	object_exclusion.safety_margin.rear	double	0.75	[m] extra length to add to the rear of the dynamic object footprint
New	object_exclusion.safety_margin.left	double	0.75	[m] extra length to add to the left of the dynamic object footprint
New	object_exclusion.safety_margin.right	double	0.75	[m] extra length to add to the right of the dynamic object footprint

Effects on system behavior

At tight turns, when drivable area is expanded it will keep a safe distance from static objects.

[github-actions]

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-10220/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-10220/planning/behavior_path_planner/autoware_behavior_path_planner_common/behavior_path_planner_drivable_area_design/

[codecov]

Codecov Report

Attention: Patch coverage is 80.55556% with 7 lines in your changes missing coverage. Please review.

Project coverage is 26.40%. Comparing base (4649cf6) to head (6d1a7d2).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...n/src/utils/drivable_area_expansion/footprints.cpp	63.15%	6 Missing and 1 partial ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main   #10220   +/-   ##
=======================================
  Coverage   26.40%   26.40%           
=======================================
  Files        1390     1390           
  Lines      107719   107737   +18     
  Branches    41501    41505    +4     
=======================================
+ Hits        28442    28452   +10     
- Misses      76442    76450    +8     
  Partials     2835     2835           

Flag	Coverage Δ		*Carryforward flag
differential	29.64% <80.55%> (?)
total	26.39% <ø> (-0.02%)	⬇️	Carriedforward from 4649cf6

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