From 6a6ac7d220e1f4fffaeab9fcbacea93582449f8e Mon Sep 17 00:00:00 2001 From: anhnv3991 Date: Wed, 3 Apr 2024 14:31:21 +0700 Subject: [PATCH 01/29] Initial commit Signed-off-by: anhnv3991 --- .../ndt_scan_matcher/map_update_module.hpp | 12 +++ .../src/map_update_module.cpp | 92 +++++++++++++++++++ .../differential_map_loader_module.cpp | 20 ++++ 3 files changed, 124 insertions(+) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index 04c762ae950a4..d91a539f69021 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -60,6 +60,11 @@ class MapUpdateModule [[nodiscard]] bool should_update_map(const geometry_msgs::msg::Point & position); void publish_partial_pcd_map(); + // Looking for PCDs in the vicinity of the specified location + void query_pcds(double px, double py, double radius, std::unordered_set& maps_to_add, std::unordered_set& maps_to_remove); + // Compute distance between an origin and a pcd segment + double dist(double px, double py, int idx, int idy); + rclcpp::Publisher::SharedPtr loaded_pcd_pub_; rclcpp::Client::SharedPtr @@ -72,6 +77,13 @@ class MapUpdateModule std::optional last_update_position_ = std::nullopt; + // Metadata of segmented PCDs + std::unordered_set all_pcds_; + std::unordered_set cur_pcds_; + double pcd_res_x_, pcd_res_y_; + double pcd_lower_x_, pcd_lower_y_; + std::string pcd_tag_; + HyperParameters::DynamicMapLoading param_; // Indicate if there is a prefetch thread waiting for being collected diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index ca56a93cec859..18a2aec2efa45 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -146,18 +146,54 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt request, [](rclcpp::Client::SharedFuture) {})}; + // While waiting for the requested pcds, look for indices of the candidate pcds + std::unordered_set pcds_to_remove, pcds_to_add; + + query_pcds(position.x, position.y, param_.map_radius, pcds_to_add, pcds_to_remove); + + // Wait for maximum 20 milliseconds + std::chrono::milliseconds timeout(20); + auto start = std::chrono::system_clock::now(); + std::future_status status = result.wait_for(std::chrono::seconds(0)); while (status != std::future_status::ready) { RCLCPP_INFO(logger_, "waiting response"); if (!rclcpp::ok()) { return false; // No update } + + auto cur = std::chrono::system_clock::now(); + + // Report an error if wait for too long + if (cur - start >= timeout) + { + RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "Waited for incoming PCDs for too long. Abandon NDT update."); + return false; + } + status = result.wait_for(std::chrono::seconds(1)); } auto & maps_to_add = result.get()->new_pointcloud_with_ids; auto & map_ids_to_remove = result.get()->ids_to_remove; + // Check if there are any maps in the pcds_to_add not coming + for (auto& name : pcds_to_add) + { + if (maps_to_add.find(name) == maps_to_add.end()) + { + RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "File %s not coming.", name.c_str()); + } + } + + for (auto& name : pcds_to_remove) + { + if (map_ids_to_remove.find(name) == map_ids_to_remove.end()) + { + RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "File %s should be removed but it was not.", name.c_str()); + } + } + RCLCPP_INFO( logger_, "Update map (Add: %lu, Remove: %lu)", maps_to_add.size(), map_ids_to_remove.size()); if (maps_to_add.empty() && map_ids_to_remove.empty()) { @@ -200,3 +236,59 @@ void MapUpdateModule::publish_partial_pcd_map() loaded_pcd_pub_->publish(map_msg); } + +void MapUpdateModuble::query_pcds(double px, double py, double radius, std::unordered_set& maps_to_add, std::unordered_set& maps_to_remove) +{ + int lower_x = static_cast(floor((px - radius) / pcd_res_x_)); + int lower_y = static_cast(floor((py - radius) / pcd_res_y_)); + int upper_x = static_cast(floor((px + radius) / pcd_res_x_)); + int upper_y = static_cast(floor((py + radius) / pcd_res_y_)); + double rel_px = px - pcd_lower_x_, rel_py = py - pcd_lower_y_; + std::unordered_set nn_pcds; + + for (int idx = lower_x; idx < upper_x; ++idx) + { + for (int idy = lower_y; idy < upper_y; ++idy) + { + // Skip if the pcd file is not within the query radius + if (dist(rel_px, rel_py, idx, idy) > radius) + { + continue; + } + + // Generate name of the PCD file + std::string name = pcd_tag_ + "_" + std::to_string(x) + "_" + std::to_string(y) + ".pcd"; + + if (cur_pcds_.find(name) == cur_pcds_.end()) + { + maps_to_add.insert(name); + } + else + { + nn_pcds.insert(name); + } + } + } + + // Compare with @cur_pcds_ to find out which pcds to remove + for (auto& name : cur_pcds_) + { + if (nn_pcds.find(name) == nn_pcds.end()) + { + map_ids_to_remove.insert(name); + } + } +} + +double MapUpdateModule::dist(double px, double py, int idx, int idy) +{ + double lx = idx * pcd_res_x_; + double ly = idy * pcd_res_y_; + double ux = lx + pcd_res_x_; + double uy = ly + pcd_res_y_; + + double dx = (px < lx) ? lx - px : ((px >= ux) ? px - ux : 0); + double dy = (py < ly) ? ly - py : ((py >= uy) ? py - uy : 0); + + return std::hypot(dx, dy); +} \ No newline at end of file diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index a8d380fd81b86..00d6bfbee5df1 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -29,6 +29,13 @@ void DifferentialMapLoaderModule::differentialAreaLoad( const autoware_map_msgs::msg::AreaInfo & area, const std::vector & cached_ids, GetDifferentialPointCloudMap::Response::SharedPtr & response) const { + + // For debug + std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); + + test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; + // End + // iterate over all the available pcd map grids std::vector should_remove(static_cast(cached_ids.size()), true); for (const auto & ele : all_pcd_file_metadata_dict_) { @@ -67,6 +74,12 @@ bool DifferentialMapLoaderModule::onServiceGetDifferentialPointCloudMap( GetDifferentialPointCloudMap::Request::SharedPtr req, GetDifferentialPointCloudMap::Response::SharedPtr res) { + // For debug + std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); + + test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; + // End + auto area = req->area; std::vector cached_ids = req->cached_ids; differentialAreaLoad(area, cached_ids, res); @@ -78,6 +91,13 @@ autoware_map_msgs::msg::PointCloudMapCellWithID DifferentialMapLoaderModule::loadPointCloudMapCellWithID( const std::string & path, const std::string & map_id) const { + + // For debug + std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); + + test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; + // End + sensor_msgs::msg::PointCloud2 pcd; if (pcl::io::loadPCDFile(path, pcd) == -1) { RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path); From 9d125e0ea8b6c4132aa7d24b83783cf352f38d45 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 3 Apr 2024 08:39:31 +0000 Subject: [PATCH 02/29] style(pre-commit): autofix --- .../ndt_scan_matcher/map_update_module.hpp | 4 +- .../src/map_update_module.cpp | 51 ++++++++----------- .../differential_map_loader_module.cpp | 2 - 3 files changed, 24 insertions(+), 33 deletions(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index d91a539f69021..4e80042709ec6 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -61,7 +61,9 @@ class MapUpdateModule void publish_partial_pcd_map(); // Looking for PCDs in the vicinity of the specified location - void query_pcds(double px, double py, double radius, std::unordered_set& maps_to_add, std::unordered_set& maps_to_remove); + void query_pcds( + double px, double py, double radius, std::unordered_set & maps_to_add, + std::unordered_set & maps_to_remove); // Compute distance between an origin and a pcd segment double dist(double px, double py, int idx, int idy); diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 18a2aec2efa45..9fbf9e412b229 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -161,13 +161,13 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt if (!rclcpp::ok()) { return false; // No update } - + auto cur = std::chrono::system_clock::now(); // Report an error if wait for too long - if (cur - start >= timeout) - { - RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "Waited for incoming PCDs for too long. Abandon NDT update."); + if (cur - start >= timeout) { + RCLCPP_ERROR_STREAM_THROTTLE( + logger_, *clock_, 1000, "Waited for incoming PCDs for too long. Abandon NDT update."); return false; } @@ -178,19 +178,16 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt auto & map_ids_to_remove = result.get()->ids_to_remove; // Check if there are any maps in the pcds_to_add not coming - for (auto& name : pcds_to_add) - { - if (maps_to_add.find(name) == maps_to_add.end()) - { + for (auto & name : pcds_to_add) { + if (maps_to_add.find(name) == maps_to_add.end()) { RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "File %s not coming.", name.c_str()); } } - for (auto& name : pcds_to_remove) - { - if (map_ids_to_remove.find(name) == map_ids_to_remove.end()) - { - RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "File %s should be removed but it was not.", name.c_str()); + for (auto & name : pcds_to_remove) { + if (map_ids_to_remove.find(name) == map_ids_to_remove.end()) { + RCLCPP_ERROR_STREAM_THROTTLE( + logger_, *clock_, 1000, "File %s should be removed but it was not.", name.c_str()); } } @@ -237,7 +234,9 @@ void MapUpdateModule::publish_partial_pcd_map() loaded_pcd_pub_->publish(map_msg); } -void MapUpdateModuble::query_pcds(double px, double py, double radius, std::unordered_set& maps_to_add, std::unordered_set& maps_to_remove) +void MapUpdateModuble::query_pcds( + double px, double py, double radius, std::unordered_set & maps_to_add, + std::unordered_set & maps_to_remove) { int lower_x = static_cast(floor((px - radius) / pcd_res_x_)); int lower_y = static_cast(floor((py - radius) / pcd_res_y_)); @@ -246,35 +245,27 @@ void MapUpdateModuble::query_pcds(double px, double py, double radius, std::unor double rel_px = px - pcd_lower_x_, rel_py = py - pcd_lower_y_; std::unordered_set nn_pcds; - for (int idx = lower_x; idx < upper_x; ++idx) - { - for (int idy = lower_y; idy < upper_y; ++idy) - { + for (int idx = lower_x; idx < upper_x; ++idx) { + for (int idy = lower_y; idy < upper_y; ++idy) { // Skip if the pcd file is not within the query radius - if (dist(rel_px, rel_py, idx, idy) > radius) - { + if (dist(rel_px, rel_py, idx, idy) > radius) { continue; } // Generate name of the PCD file std::string name = pcd_tag_ + "_" + std::to_string(x) + "_" + std::to_string(y) + ".pcd"; - if (cur_pcds_.find(name) == cur_pcds_.end()) - { + if (cur_pcds_.find(name) == cur_pcds_.end()) { maps_to_add.insert(name); - } - else - { + } else { nn_pcds.insert(name); } } } // Compare with @cur_pcds_ to find out which pcds to remove - for (auto& name : cur_pcds_) - { - if (nn_pcds.find(name) == nn_pcds.end()) - { + for (auto & name : cur_pcds_) { + if (nn_pcds.find(name) == nn_pcds.end()) { map_ids_to_remove.insert(name); } } @@ -291,4 +282,4 @@ double MapUpdateModule::dist(double px, double py, int idx, int idy) double dy = (py < ly) ? ly - py : ((py >= uy) ? py - uy : 0); return std::hypot(dx, dy); -} \ No newline at end of file +} diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index 00d6bfbee5df1..3b270b0084ccf 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -29,7 +29,6 @@ void DifferentialMapLoaderModule::differentialAreaLoad( const autoware_map_msgs::msg::AreaInfo & area, const std::vector & cached_ids, GetDifferentialPointCloudMap::Response::SharedPtr & response) const { - // For debug std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); @@ -91,7 +90,6 @@ autoware_map_msgs::msg::PointCloudMapCellWithID DifferentialMapLoaderModule::loadPointCloudMapCellWithID( const std::string & path, const std::string & map_id) const { - // For debug std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); From a181ab9b75efabd1bbcbd62c7bab32bb0e400dbf Mon Sep 17 00:00:00 2001 From: anhnv3991 Date: Fri, 5 Apr 2024 08:46:51 +0700 Subject: [PATCH 03/29] Keep timeout only Signed-off-by: anhnv3991 --- .../ndt_scan_matcher/map_update_module.hpp | 5 -- .../src/map_update_module.cpp | 83 +------------------ .../differential_map_loader_module.cpp | 20 ----- 3 files changed, 3 insertions(+), 105 deletions(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index d91a539f69021..2eb14b6004282 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -60,11 +60,6 @@ class MapUpdateModule [[nodiscard]] bool should_update_map(const geometry_msgs::msg::Point & position); void publish_partial_pcd_map(); - // Looking for PCDs in the vicinity of the specified location - void query_pcds(double px, double py, double radius, std::unordered_set& maps_to_add, std::unordered_set& maps_to_remove); - // Compute distance between an origin and a pcd segment - double dist(double px, double py, int idx, int idy); - rclcpp::Publisher::SharedPtr loaded_pcd_pub_; rclcpp::Client::SharedPtr diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 18a2aec2efa45..9bb32b69dcad5 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -146,13 +146,8 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt request, [](rclcpp::Client::SharedFuture) {})}; - // While waiting for the requested pcds, look for indices of the candidate pcds - std::unordered_set pcds_to_remove, pcds_to_add; - - query_pcds(position.x, position.y, param_.map_radius, pcds_to_add, pcds_to_remove); - - // Wait for maximum 20 milliseconds - std::chrono::milliseconds timeout(20); + // Wait for maximum 10 milliseconds + std::chrono::milliseconds timeout(10); auto start = std::chrono::system_clock::now(); std::future_status status = result.wait_for(std::chrono::seconds(0)); @@ -177,23 +172,7 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt auto & maps_to_add = result.get()->new_pointcloud_with_ids; auto & map_ids_to_remove = result.get()->ids_to_remove; - // Check if there are any maps in the pcds_to_add not coming - for (auto& name : pcds_to_add) - { - if (maps_to_add.find(name) == maps_to_add.end()) - { - RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "File %s not coming.", name.c_str()); - } - } - - for (auto& name : pcds_to_remove) - { - if (map_ids_to_remove.find(name) == map_ids_to_remove.end()) - { - RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "File %s should be removed but it was not.", name.c_str()); - } - } - + // Check RCLCPP_INFO( logger_, "Update map (Add: %lu, Remove: %lu)", maps_to_add.size(), map_ids_to_remove.size()); if (maps_to_add.empty() && map_ids_to_remove.empty()) { @@ -236,59 +215,3 @@ void MapUpdateModule::publish_partial_pcd_map() loaded_pcd_pub_->publish(map_msg); } - -void MapUpdateModuble::query_pcds(double px, double py, double radius, std::unordered_set& maps_to_add, std::unordered_set& maps_to_remove) -{ - int lower_x = static_cast(floor((px - radius) / pcd_res_x_)); - int lower_y = static_cast(floor((py - radius) / pcd_res_y_)); - int upper_x = static_cast(floor((px + radius) / pcd_res_x_)); - int upper_y = static_cast(floor((py + radius) / pcd_res_y_)); - double rel_px = px - pcd_lower_x_, rel_py = py - pcd_lower_y_; - std::unordered_set nn_pcds; - - for (int idx = lower_x; idx < upper_x; ++idx) - { - for (int idy = lower_y; idy < upper_y; ++idy) - { - // Skip if the pcd file is not within the query radius - if (dist(rel_px, rel_py, idx, idy) > radius) - { - continue; - } - - // Generate name of the PCD file - std::string name = pcd_tag_ + "_" + std::to_string(x) + "_" + std::to_string(y) + ".pcd"; - - if (cur_pcds_.find(name) == cur_pcds_.end()) - { - maps_to_add.insert(name); - } - else - { - nn_pcds.insert(name); - } - } - } - - // Compare with @cur_pcds_ to find out which pcds to remove - for (auto& name : cur_pcds_) - { - if (nn_pcds.find(name) == nn_pcds.end()) - { - map_ids_to_remove.insert(name); - } - } -} - -double MapUpdateModule::dist(double px, double py, int idx, int idy) -{ - double lx = idx * pcd_res_x_; - double ly = idy * pcd_res_y_; - double ux = lx + pcd_res_x_; - double uy = ly + pcd_res_y_; - - double dx = (px < lx) ? lx - px : ((px >= ux) ? px - ux : 0); - double dy = (py < ly) ? ly - py : ((py >= uy) ? py - uy : 0); - - return std::hypot(dx, dy); -} \ No newline at end of file diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index 00d6bfbee5df1..a8d380fd81b86 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -29,13 +29,6 @@ void DifferentialMapLoaderModule::differentialAreaLoad( const autoware_map_msgs::msg::AreaInfo & area, const std::vector & cached_ids, GetDifferentialPointCloudMap::Response::SharedPtr & response) const { - - // For debug - std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); - - test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; - // End - // iterate over all the available pcd map grids std::vector should_remove(static_cast(cached_ids.size()), true); for (const auto & ele : all_pcd_file_metadata_dict_) { @@ -74,12 +67,6 @@ bool DifferentialMapLoaderModule::onServiceGetDifferentialPointCloudMap( GetDifferentialPointCloudMap::Request::SharedPtr req, GetDifferentialPointCloudMap::Response::SharedPtr res) { - // For debug - std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); - - test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; - // End - auto area = req->area; std::vector cached_ids = req->cached_ids; differentialAreaLoad(area, cached_ids, res); @@ -91,13 +78,6 @@ autoware_map_msgs::msg::PointCloudMapCellWithID DifferentialMapLoaderModule::loadPointCloudMapCellWithID( const std::string & path, const std::string & map_id) const { - - // For debug - std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); - - test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; - // End - sensor_msgs::msg::PointCloud2 pcd; if (pcl::io::loadPCDFile(path, pcd) == -1) { RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path); From e579421942aeb93424085f38bc4c746873f552e7 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 1 Apr 2024 18:44:18 +0900 Subject: [PATCH 04/29] docs(lane_change): update documentation (#6544) * docs(lane_change): update documentation Signed-off-by: Muhammad Zulfaqar Azmi * update validity check flow chart Signed-off-by: Muhammad Zulfaqar Azmi * explanation for the valid paths Signed-off-by: Muhammad Zulfaqar Azmi * Add prerequisite in the requirement Signed-off-by: Muhammad Zulfaqar Azmi * update diagram Signed-off-by: Muhammad Zulfaqar Azmi * Edit the parameters Signed-off-by: Muhammad Zulfaqar Azmi * Explaining lane expansion Signed-off-by: Muhammad Zulfaqar Azmi * fix lane expansion document Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi --- .../README.md | 404 ++++++++++++------ .../images/lane_change-lane_change_phases.png | Bin 181969 -> 33850 bytes .../lane_change-lane_expansion-with.png | Bin 0 -> 25187 bytes .../lane_change-lane_expansion-without.png | Bin 0 -> 25525 bytes 4 files changed, 280 insertions(+), 124 deletions(-) create mode 100644 planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png create mode 100644 planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 8eb791ab4f5e9..874d542b445d3 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -4,6 +4,11 @@ The Lane Change module is activated when lane change is needed and can be safely ## Lane Change Requirement +- As the prerequisite, the type of lane boundary in the HD map has to be one of the following: + - Dashed lane marking: Lane changes are permitted in both directions. + - Dashed marking on the left and solid on the right: Lane changes are allowed from left to right. + - Dashed marking on the right and solid on the left: Lane changes are allowed from right to left. + - `allow_lane_change` tags is set as `true` - During lane change request condition - The ego-vehicle isn’t on a `preferred_lane`. - There is neither intersection nor crosswalk on the path of the lane change @@ -60,6 +65,89 @@ longitudinal_acceleration_resolution = (maximum_longitudinal_acceleration - mini Note that when the `current_velocity` is lower than `minimum_lane_changing_velocity`, the vehicle needs to accelerate its velocity to `minimum_lane_changing_velocity`. Therefore, longitudinal acceleration becomes positive value (not decelerate). +The chart illustrates the conditions under which longitudinal acceleration values are sampled. + +```plantuml +@startuml +skinparam defaultTextAlignment center +skinparam backgroundColor #WHITE + +start + +if (prev_module_path is empty?) then (yes) + :Return empty list; + stop +else (no) +endif + +if (max_acc <= 0.0) then (yes) + :Return **sampled acceleration values**; + note left: Calculated sampled acceleration using\ngetAccelerationValues(min_acc, max_acc, longitudinal_acc_sampling_num) + stop +endif + +if (max_lane_change_length > ego's distance to the end of the current lanes.) then (yes) + :Return **sampled acceleration values**; + stop +endif + +if (isVehicleStuck(current_lanes)) then (yes) + :Return **sampled acceleration values**; + stop +else (no) +endif + +if (is goal is in target lanes) then (yes) + if (max_lane_change_length < ego's distance to the goal along the target lanes) then (yes) + :Return {max_acc}; + stop + else (no) + endif +else (no) + if (max_lane_change_length < ego's distance to the end of the target lanes.) then (yes) + :Return {max_acc}; + stop + else (no) + endif +endif + +:Return **sampled acceleration values**; +stop + +@enduml + +``` + +while the following describes the process by which longitudinal accelerations are sampled. + +```plantuml +@startuml +start +:Initialize sampled_values with min_acc; + +if (min_acc > max_acc) then (yes) + :Return empty list; + stop +elseif (max_acc - min_acc < epsilon) then (yes) + :Return {0.0}; + stop +else (no) + :Calculate resolution; +endif + +:Start loop from min_acc to max_acc with resolution step; +repeat + if (sampled_values.back() < -epsilon AND next_value > epsilon) then (yes) + :Insert 0.0 into sampled_values; + endif + :Add sampled_acc to sampled_values; + repeat while (sampled_acc < max_acc + epsilon) is (TRUE) + +:Return sampled_values; +stop +@enduml +``` + The following figure illustrates when `longitudinal_acceleration_sampling_num = 4`. Assuming that `maximum_deceleration = 1.0` then `a0 == 0.0 == no deceleration`, `a1 == 0.25`, `a2 == 0.5`, `a3 == 0.75` and `a4 == 1.0 == maximum_deceleration`. `a0` is the expected lane change trajectories should ego vehicle do not decelerate, and `a1`'s path is the expected lane change trajectories should ego vehicle decelerate at `0.25 m/s^2`. ![path_samples](./images/lane_change-candidate_path_samples.png) @@ -89,67 +177,112 @@ lateral_acceleration_resolution = (maximum_lateral_acceleration - minimum_latera #### Candidate Path's validity check -A candidate path is valid if the total lane change distance is less than +A candidate path is considered valid if it meets the following criteria: -1. distance to the end of current lane -2. distance to the next intersection -3. distance from current pose to the goal. -4. distance to the crosswalk. - -The goal must also be in the list of the preferred lane. +1. The distance from the ego vehicle's current position to the end of the current lanes is sufficient to perform a single lane change. +2. The distance from the ego vehicle's current position to the goal along the current lanes is adequate to complete multiple lane changes. +3. The distance from the ego vehicle's current position to the end of the target lanes is adequate for completing multiple lane changes. +4. Intersection requirements are met (conditions are parameterized). +5. Crosswalk requirements are satisfied (conditions are parameterized). +6. Traffic light regulations are adhered to (conditions are parameterized). +7. The lane change can be completed after passing a parked vehicle. +8. The lane change is deemed safe to execute. The following flow chart illustrates the validity check. ```plantuml @startuml -skinparam monochrome true skinparam defaultTextAlignment center -skinparam noteTextAlignment left +skinparam backgroundColor #White -title Selecting Valid Candidate Paths start -:**INPUT** std::vector input_paths; +if (Check if start point is valid by check if it is covered by neighbour lanes polygon) then (not covered) + #LightPink:Reject path; + stop +else (covered) +endif -partition selectValidPaths { -:**INITIALIZE** std::vector valid_paths; +group check for distance #LightYellow + :Calculate total length and goal related distances; + if (total lane change length considering single lane change > distance from current pose to end of current lanes) then (yes) + #LightPink:Reject path; + stop + else (no) + endif -:idx = 0; + if (goal is in current lanes) then (yes) + if (total lane change length considering multiple lane changes > distance from ego to goal along current lanes) then (yes) + #LightPink:Reject path; + stop + else (no) + endif + else (no) + endif -while (idx < input_paths.size()?) + if (target lanes is empty) then (yes) + #LightPink:Reject path; + stop + else (no) + endif + if (total lane change length considering multiple lane changes > distance from ego to the end of target lanes) then (yes) + #LightPink:Reject path; + stop + else (no) + endif +end group -:path = input_paths.at(idx); -partition hasEnoughDistance { -if(lane_change_total_distance < distance to end of current lanes -&& -lane_change_total_distance < distance to the next intersection -&& -lane_change_total_distance < distance from current pose to the goal -&& -lane_change_total_distance < distance to crosswalk -&& -goal is in route -) then (true) -:path_validity = true; -else (\n false) -:path_validity = false; +group evaluate on Crosswalk #LightCyan +if (regulate_on_crosswalk and not enough length to crosswalk) then (yes) + if (stop time < stop time threshold\n(Related to stuck detection)) then (yes) + #LightPink:Reject path; + stop + else (no) + :Allow lane change in crosswalk; + endif +else (no) endif -} +end group -if(path_validity == true)then (true) - -:valid_paths.push_back(path); +group evaluate on Intersection #LightGreen +if (regulate_on_intersection and not enough length to intersection) then (yes) + if (stop time < stop time threshold\n(Related to stuck detection)) then (yes) + #LightPink:Reject path; + stop + else (no) + :Allow lane change in intersection; + endif +else (no) +endif +end group + +group evaluate on Traffic Light #Lavender +if (regulate_on_traffic_light and not enough length to complete lane change before stop line) then (yes) + #LightPink:Reject path; + stop +elseif (stopped at red traffic light within distance) then (yes) + #LightPink:Reject path; + stop +else (no) +endif +end group -else (\nfalse) +if (ego is not stuck but parked vehicle exists in target lane) then (yes) + #LightPink:Reject path; + stop +else (no) endif -:++idx; -endwhile (false) -:**RETURN** valid_paths; +if (is safe to perform lane change) then (yes) + #Cyan:Return candidate path list; + stop +else (no) + #LightPink:Reject path; +endif -} stop + @enduml ``` @@ -165,6 +298,27 @@ First, we divide the target objects into obstacles in the target lane, obstacles Furthermore, to change lanes behind a vehicle waiting at a traffic light, we skip the safety check for the stopping vehicles near the traffic light. The explanation for parked car detection is written in [documentation for avoidance module](../behavior_path_avoidance_module/README.md). +The detection area for the target lane can be expanded beyond its original boundaries to enable detection of objects that are outside the target lane's limits. + +
+ + + + + +
+
+
Without Lane Expansion
+ Without lane expansion +
+ 		+
+
With Lane Expansion
+ With lane expansion +
+
+
+ ##### Collision check in prepare phase The ego vehicle may need to secure ample inter-vehicle distance ahead of the target vehicle before attempting a lane change. The flag `enable_collision_check_at_prepare_phase` can be enabled to gain this behavior. The following image illustrates the differences between the `false` and `true` cases. @@ -333,45 +487,38 @@ The last behavior will also occur if the ego vehicle has departed from the curre ### Essential lane change parameters -The following parameters are configurable in `lane_change.param.yaml`. - -| Name | Unit | Type | Description | Default value | -| :------------------------------------------- | ------ | ------- | ---------------------------------------------------------------------------------------------------------------------- | ------------------ | -| `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 | -| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | -| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | -| `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | -| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 | -| `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 | -| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | -| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | -| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | -| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 5 | -| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | -| `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | -| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | -| `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | -| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deactivated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 | -| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 | -| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 | -| `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | -| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.15, 0.15, 0.15] | -| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.5, 0.5, 0.5] | -| `target_object.car` | [-] | boolean | Include car objects for safety check | true | -| `target_object.truck` | [-] | boolean | Include truck objects for safety check | true | -| `target_object.bus` | [-] | boolean | Include bus objects for safety check | true | -| `target_object.trailer` | [-] | boolean | Include trailer objects for safety check | true | -| `target_object.unknown` | [-] | boolean | Include unknown objects for safety check | true | -| `target_object.bicycle` | [-] | boolean | Include bicycle objects for safety check | true | -| `target_object.motorcycle` | [-] | boolean | Include motorcycle objects for safety check | true | -| `target_object.pedestrian` | [-] | boolean | Include pedestrian objects for safety check | true | +The following parameters are configurable in [lane_change.param.yaml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml) + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------- | ------ | ------ | ---------------------------------------------------------------------------------------------------------------------- | ------------------ | +| `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 | +| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | +| `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | +| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 2.0 | +| `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 | +| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | +| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | +| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | +| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 3 | +| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | +| `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | +| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | +| `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | +| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deactivated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 | +| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 | +| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 | +| `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | +| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.4, 0.4, 0.4] | +| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.65, 0.65, 0.65] | ### Lane change regulations -| Name | Unit | Type | Description | Default value | -| :------------------------ | ---- | ------- | ------------------------------------- | ------------- | -| `regulation.crosswalk` | [-] | boolean | Regulate lane change on crosswalks | false | -| `regulation.intersection` | [-] | boolean | Regulate lane change on intersections | false | +| Name | Unit | Type | Description | Default value | +| :------------------------- | ---- | ------- | ---------------------------------------------------------- | ------------- | +| `regulation.crosswalk` | [-] | boolean | Allow lane change in between crosswalks | true | +| `regulation.intersection` | [-] | boolean | Allow lane change in between intersections | true | +| `regulation.traffic_light` | [-] | boolean | Allow lane change to be performed in between traffic light | true | ### Ego vehicle stuck detection @@ -380,9 +527,20 @@ The following parameters are configurable in `lane_change.param.yaml`. | `stuck_detection.velocity` | [m/s] | double | Velocity threshold for ego vehicle stuck detection | 0.1 | | `stuck_detection.stop_time` | [s] | double | Stop time threshold for ego vehicle stuck detection | 3.0 | -### Collision checks during lane change +### Collision checks + +#### Target Objects -The following parameters are configurable in `behavior_path_planner.param.yaml` and `lane_change.param.yaml`. +| Name | Unit | Type | Description | Default value | +| :------------------------- | ---- | ------- | ------------------------------------------- | ------------- | +| `target_object.car` | [-] | boolean | Include car objects for safety check | true | +| `target_object.truck` | [-] | boolean | Include truck objects for safety check | true | +| `target_object.bus` | [-] | boolean | Include bus objects for safety check | true | +| `target_object.trailer` | [-] | boolean | Include trailer objects for safety check | true | +| `target_object.unknown` | [-] | boolean | Include unknown objects for safety check | true | +| `target_object.bicycle` | [-] | boolean | Include bicycle objects for safety check | true | +| `target_object.motorcycle` | [-] | boolean | Include motorcycle objects for safety check | true | +| `target_object.pedestrian` | [-] | boolean | Include pedestrian objects for safety check | true | #### common @@ -391,53 +549,51 @@ The following parameters are configurable in `behavior_path_planner.param.yaml` | `safety_check.lane_expansion.left_offset` | [m] | double | Expand the left boundary of the detection area, allowing objects previously outside on the left to be detected and registered as targets. | 0.0 | | `safety_check.lane_expansion.right_offset` | [m] | double | Expand the right boundary of the detection area, allowing objects previously outside on the right to be detected and registered as targets. | 0.0 | -#### execution - -| Name | Unit | Type | Description | Default value | -| :---------------------------------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `safety_check.execution.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | -| `safety_check.execution.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | -| `safety_check.execution.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | -| `safety_check.execution.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | -| `safety_check.execution.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | -| `safety_check.execution.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | -| `safety_check.execution.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | -| `safety_check.execution.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | -| `safety_check.execution.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | -| `safety_check.execution.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | -| `safety_check.execution.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | - -##### cancel - -| Name | Unit | Type | Description | Default value | -| :------------------------------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `safety_check.cancel.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 1.5 | -| `safety_check.cancel.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | -| `safety_check.cancel.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.5 | -| `safety_check.cancel.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -2.5 | -| `safety_check.cancel.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | -| `safety_check.cancel.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.5 | -| `safety_check.cancel.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | false | -| `safety_check.cancel.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.2 | -| `safety_check.cancel.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | false | -| `safety_check.cancel.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | false | -| `safety_check.cancel.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | false | - -##### stuck - -| Name | Unit | Type | Description | Default value | -| :------------------------------------------------------------ | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `safety_check.stuck.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | -| `safety_check.stuck.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | -| `safety_check.stuck.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | -| `safety_check.stuck.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | -| `safety_check.stuck.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | -| `safety_check.stuck.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | -| `safety_check.stuck.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | -| `safety_check.stuck.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | -| `safety_check.stuck.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | -| `safety_check.stuck.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | -| `safety_check.stuck.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | +#### Additional parameters + +| Name | Unit | Type | Description | Default value | +| :----------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | false | +| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | +| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | +| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | +| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | + +#### safety constraints during lane change path is computed + +| Name | Unit | Type | Description | Default value | +| :----------------------------------------------------------- | ------- | ------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.execution.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.execution.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.execution.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.execution.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 1.0 | +| `safety_check.execution.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | +| `safety_check.execution.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.cancel.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 | + +##### safety constraints to cancel lane change path + +| Name | Unit | Type | Description | Default value | +| :-------------------------------------------------------- | ------- | ------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.cancel.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.cancel.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -2.0 | +| `safety_check.cancel.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 1.5 | +| `safety_check.cancel.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 0.8 | +| `safety_check.cancel.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 1.0 | +| `safety_check.cancel.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 2.5 | +| `safety_check.cancel.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.6 | + +##### safety constraints used during lane change path is computed when ego is stuck + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------------- | ------- | ------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.stuck.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.stuck.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.stuck.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.stuck.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 1.0 | +| `safety_check.stuck.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | +| `safety_check.stuck.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.stuck.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 | (\*1) the value must be negative. diff --git a/planning/behavior_path_lane_change_module/images/lane_change-lane_change_phases.png b/planning/behavior_path_lane_change_module/images/lane_change-lane_change_phases.png index 411a72c30b88a29add6202a6de3916d202bafb7c..efd1df086544dab24323fe247b38d1591119d9dc 100644 GIT binary patch literal 33850 zcmb5W1yojFxAqN4hlHeb2~sy9-Q6kOAfZS%(%mVY0-|(>bazQfNsFX(=eKVE&w1bH zoacOFeBT%j9RqLn-fQi(=Dg-_Uh585QIf_$eU1tP1A`$eBcTQZ^F$8@29^^U5&Q(( z;0F2+tdp9w7)<#X$qoz*1&pkOsJgr1eiqs{jG5bhBh~n38rp^gdD$S9a?1F^U%Iv^ zNsf_uI8CyN>T(J446|~%&e(Zzcln>`DHA*s^@{Ft4u=-nz3aWl(&jllFVfQvKV)ae zI9dGoFuRrIap`s0{DWU7hFsW3e@;!wxH|+xt;u;OaZ&V%j34~J|M^K77i>CA8mHt* z#BH1Dy!T`D9k)QvfBT3`2NoQzUI(( zl<+$q$9X}PC;^^HHt7A=_lQsUYu%Yp;`~U#-Tt|xKLxh&9a;kSJud+m&Rw6eaTxVm zL=^Zqm<@TDtf80jFeuvKPL?RoFy*LVBg$yH>ZUjY{YiBn_*@TuHaaf3%nsfjwnJw1 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z+cnBT)0)lYBLp>f%6oEZ2wA%Vl#N=k94?V-N))mqk|xz|@9r%3ADLr_RNv`!^4_@E zx>w0Wg}mI8GjrGIR6DxdTa1AEL9)a7W=tT|qmz)tdd&#FC>!}{e|yWBDQ^?OC?YxJ zaIr1_HSPa#*3+x2DHS618-f1BMXQ18a2u*g25H#)bHs5(KbOrLH8a5|1X_FQBY8Tnwf^3nry2JZ#J*F zjSZvg@oa#d!k3N)|K;!B#Z>iYrlt)46Xw>zoxQ5>3pl2X|K&h~-E}r$D0%2mG(`?p zH7zCo%c!^f@6Zjo5-99QeSJ6KujLC_s9wE#E%)*t0mpN%H8nNc@ZLrCiT8-o<8zG&XW#TTd=|Uj}g?ulNIw;tdNp0I7SMG9&lM@NjTrBNvdxSv-gFxOsS7 z%9z(mno8jxu8+j7<{I$+Y$no4L%x2^&C7$jy1Hs|*nkBzwnAj`@>uZRo?f2?#5Oh( z^d_{UW@l#~iN?Lj0W$eAkPwrKA3>4}^YaU1)ANY<^5FXw3pI6h?DC2Vhat0|%*=P8 z$nT1w(}JsZ3i8<%jR!eQoNbNGimg`0O@|EaiK=NUEuqc+u6mHJ|3qZaBh>2AGa1_X zrM+&aFA)G@ZVhg1-$dgDBwJeIaoJ{pPUGTB1PRNjJ4ViwwJb~+!w@u zV+a7!&$Rz#yq68tP71^nr2aMl9lszKAY=XWlfN&4k9mp!$PqWr1L1$)0HAHJ`AcGZ zxoIfG%fPN|-~u!2l>htv+^$@#T5X%tvx^^oPze)p8%C|qrojJjypoYn5U&c&d C Date: Mon, 1 Apr 2024 18:53:48 +0900 Subject: [PATCH 05/29] feat(perception_online_evaluator): unify debug markers instead of separating for each object (#6681) * feat(perception_online_evaluator): unify debug markers instead of separating for each object Signed-off-by: kosuke55 * fix for Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../utils/marker_utils.hpp | 6 +- .../src/perception_online_evaluator_node.cpp | 94 ++++++++++++------- .../src/utils/marker_utils.cpp | 11 ++- 3 files changed, 68 insertions(+), 43 deletions(-) diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp index 3ac4c1db9efbd..0831d580248d3 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp @@ -63,8 +63,8 @@ MarkerArray createPoseMarkerArray( const float & b); MarkerArray createPosesMarkerArray( - const std::vector poses, std::string && ns, const float & r, const float & g, - const float & b, const float & x_scale = 0.5, const float & y_scale = 0.2, + const std::vector poses, std::string && ns, const int32_t & first_id, const float & r, + const float & g, const float & b, const float & x_scale = 0.5, const float & y_scale = 0.2, const float & z_scale = 0.2); std_msgs::msg::ColorRGBA createColorFromString(const std::string & str); @@ -75,7 +75,7 @@ MarkerArray createObjectPolygonMarkerArray( MarkerArray createDeviationLines( const std::vector poses1, const std::vector poses2, const std::string & ns, - const float r, const float g, const float b); + const int32_t & first_id, const float r, const float g, const float b); } // namespace marker_utils diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index 8820ad16fd8d5..f3a08bf42797a 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -132,50 +132,74 @@ void PerceptionOnlineEvaluatorNode::publishDebugMarker() tier4_autoware_utils::appendMarkerArray(added, &marker); }; - const auto history_path_map = metrics_calculator_.getHistoryPathMap(); const auto & p = parameters_->debug_marker_parameters; - for (const auto & [uuid, history_path] : history_path_map) { - { - const auto c = createColorFromString(uuid + "_raw"); - if (p.show_history_path) { - add(createPointsMarkerArray(history_path.first, "history_path_" + uuid, 0, c.r, c.g, c.b)); + // visualize history path + { + const auto history_path_map = metrics_calculator_.getHistoryPathMap(); + int32_t history_path_first_id = 0; + int32_t smoothed_history_path_first_id = 0; + size_t i = 0; + for (const auto & [uuid, history_path] : history_path_map) { + { + const auto c = createColorFromString(uuid + "_raw"); + if (p.show_history_path) { + add(createPointsMarkerArray(history_path.first, "history_path", i, c.r, c.g, c.b)); + } + if (p.show_history_path_arrows) { + add(createPosesMarkerArray( + history_path.first, "history_path_arrows", history_path_first_id, c.r, c.g, c.b, 0.1, + 0.05, 0.05)); + history_path_first_id += history_path.first.size(); + } } - if (p.show_history_path_arrows) { - add(createPosesMarkerArray( - history_path.first, "history_path_arrows_" + uuid, c.r, c.g, c.b, 0.1, 0.05, 0.05)); + { + const auto c = createColorFromString(uuid); + if (p.show_smoothed_history_path) { + add(createPointsMarkerArray( + history_path.second, "smoothed_history_path", i, c.r, c.g, c.b)); + } + if (p.show_smoothed_history_path_arrows) { + add(createPosesMarkerArray( + history_path.second, "smoothed_history_path_arrows", smoothed_history_path_first_id, + c.r, c.g, c.b, 0.1, 0.05, 0.05)); + smoothed_history_path_first_id += history_path.second.size(); + } } + i++; } - { + } + + // visualize predicted path of past objects + { + int32_t predicted_path_first_id = 0; + int32_t history_path_first_id = 0; + int32_t deviation_lines_first_id = 0; + size_t i = 0; + const auto object_data_map = metrics_calculator_.getDebugObjectData(); + for (const auto & [uuid, object_data] : object_data_map) { const auto c = createColorFromString(uuid); - if (p.show_smoothed_history_path) { - add(createPointsMarkerArray( - history_path.second, "smoothed_history_path_" + uuid, 0, c.r, c.g, c.b)); + const auto predicted_path = object_data.getPredictedPath(); + const auto history_path = object_data.getHistoryPath(); + if (p.show_predicted_path) { + add(createPosesMarkerArray( + predicted_path, "predicted_path", predicted_path_first_id, 0, 0, 1)); + predicted_path_first_id += predicted_path.size(); } - if (p.show_smoothed_history_path_arrows) { + if (p.show_predicted_path_gt) { add(createPosesMarkerArray( - history_path.second, "smoothed_history_path_arrows_" + uuid, c.r, c.g, c.b, 0.1, 0.05, - 0.05)); + history_path, "predicted_path_gt", history_path_first_id, 1, 0, 0)); + history_path_first_id += history_path.size(); } - } - } - const auto object_data_map = metrics_calculator_.getDebugObjectData(); - for (const auto & [uuid, object_data] : object_data_map) { - const auto c = createColorFromString(uuid); - const auto predicted_path = object_data.getPredictedPath(); - const auto history_path = object_data.getHistoryPath(); - if (p.show_predicted_path) { - add(createPosesMarkerArray(predicted_path, "predicted_path_" + uuid, 0, 0, 1)); - } - if (p.show_predicted_path_gt) { - add(createPosesMarkerArray(history_path, "predicted_path_gt_" + uuid, 1, 0, 0)); - } - if (p.show_deviation_lines) { - add(createDeviationLines(predicted_path, history_path, "deviation_lines_" + uuid, 1, 1, 1)); - } - if (p.show_object_polygon) { - add(createObjectPolygonMarkerArray( - object_data.object, "object_polygon_" + uuid, 0, c.r, c.g, c.b)); + if (p.show_deviation_lines) { + add(createDeviationLines( + predicted_path, history_path, "deviation_lines", deviation_lines_first_id, 1, 1, 1)); + deviation_lines_first_id += predicted_path.size(); + } + if (p.show_object_polygon) { + add(createObjectPolygonMarkerArray(object_data.object, "object_polygon", i, c.r, c.g, c.b)); + } + i++; } } diff --git a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp index 75af92e83dcd8..a29e1a468e983 100644 --- a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp +++ b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp @@ -111,14 +111,14 @@ MarkerArray createPointsMarkerArray( MarkerArray createDeviationLines( const std::vector poses1, const std::vector poses2, const std::string & ns, - const float r, const float g, const float b) + const int32_t & first_id, const float r, const float g, const float b) { MarkerArray msg; const size_t max_idx = std::min(poses1.size(), poses2.size()); for (size_t i = 0; i < max_idx; ++i) { auto marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, i, Marker::LINE_STRIP, + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, first_id + i, Marker::LINE_STRIP, createMarkerScale(0.005, 0.0, 0.0), createMarkerColor(r, g, b, 0.5)); marker.points.push_back(poses1.at(i).position); marker.points.push_back(poses2.at(i).position); @@ -144,14 +144,15 @@ MarkerArray createPoseMarkerArray( } MarkerArray createPosesMarkerArray( - const std::vector poses, std::string && ns, const float & r, const float & g, - const float & b, const float & x_scale, const float & y_scale, const float & z_scale) + const std::vector poses, std::string && ns, const int32_t & first_id, const float & r, + const float & g, const float & b, const float & x_scale, const float & y_scale, + const float & z_scale) { MarkerArray msg; for (size_t i = 0; i < poses.size(); ++i) { Marker marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, i, Marker::ARROW, + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, first_id + i, Marker::ARROW, createMarkerScale(x_scale, y_scale, z_scale), createMarkerColor(r, g, b, 0.5)); marker.pose = poses.at(i); msg.markers.push_back(marker); From d9264277833ae2474c5db41ccc43db262dd1ae1d Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 1 Apr 2024 18:54:27 +0900 Subject: [PATCH 06/29] feat(perception_online_evaluator): extract moving object for deviation check (#6682) fix test Signed-off-by: kosuke55 --- .../perception_online_evaluator.defaults.yaml | 2 +- .../src/metrics_calculator.cpp | 90 +++++++++++++++---- .../test_perception_online_evaluator_node.cpp | 65 +++++++++----- 3 files changed, 114 insertions(+), 43 deletions(-) diff --git a/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml b/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml index 976b10a2c73f9..46ea68c991090 100644 --- a/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml +++ b/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml @@ -11,7 +11,7 @@ prediction_time_horizons: [1.0, 2.0, 3.0, 5.0] - stopped_velocity_threshold: 0.3 + stopped_velocity_threshold: 1.0 target_object: car: diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp index 60e02c8f24c39..20d8c6d570489 100644 --- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp +++ b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp @@ -37,20 +37,25 @@ std::optional MetricsCalculator::calculate(const Metric & metric) return {}; } const auto target_stamp_objects = getObjectsByStamp(target_stamp); - const auto class_objects_map = separateObjectsByClass(target_stamp_objects); - // filter stopped objects + // extract moving objects + const auto moving_objects = filterObjectsByVelocity( + target_stamp_objects, parameters_->stopped_velocity_threshold, + /*remove_above_threshold=*/false); + const auto class_moving_objects_map = separateObjectsByClass(moving_objects); + + // extract stopped objects const auto stopped_objects = filterObjectsByVelocity(target_stamp_objects, parameters_->stopped_velocity_threshold); const auto class_stopped_objects_map = separateObjectsByClass(stopped_objects); switch (metric) { case Metric::lateral_deviation: - return calcLateralDeviationMetrics(class_objects_map); + return calcLateralDeviationMetrics(class_moving_objects_map); case Metric::yaw_deviation: - return calcYawDeviationMetrics(class_objects_map); + return calcYawDeviationMetrics(class_moving_objects_map); case Metric::predicted_path_deviation: - return calcPredictedPathDeviationMetrics(class_objects_map); + return calcPredictedPathDeviationMetrics(class_moving_objects_map); case Metric::yaw_rate: return calcYawRateMetrics(class_stopped_objects_map); default: @@ -372,7 +377,7 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas } const auto [previous_stamp, previous_object] = previous_object_with_stamp_opt.value(); - const auto time_diff = (stamp - previous_stamp).seconds(); + const double time_diff = (stamp - previous_stamp).seconds(); if (time_diff < 0.01) { continue; } @@ -443,7 +448,34 @@ void MetricsCalculator::updateHistoryPath() for (const auto & [uuid, stamp_and_objects] : object_map_) { std::vector history_path; - for (const auto & [stamp, object] : stamp_and_objects) { + for (auto it = stamp_and_objects.begin(); it != stamp_and_objects.end(); ++it) { + const auto & [stamp, object] = *it; + + // skip if the object is stopped + // calculate velocity from previous object + if (it != stamp_and_objects.begin()) { + const auto & [prev_stamp, prev_object] = *std::prev(it); + const double time_diff = (stamp - prev_stamp).seconds(); + if (time_diff < 0.01) { + continue; + } + const auto current_pose = object.kinematics.initial_pose_with_covariance.pose; + const auto prev_pose = prev_object.kinematics.initial_pose_with_covariance.pose; + const auto velocity = + tier4_autoware_utils::calcDistance2d(current_pose.position, prev_pose.position) / + time_diff; + if (velocity < parameters_->stopped_velocity_threshold) { + continue; + } + } + if ( + std::hypot( + object.kinematics.initial_twist_with_covariance.twist.linear.x, + object.kinematics.initial_twist_with_covariance.twist.linear.y) < + parameters_->stopped_velocity_threshold) { + continue; + } + history_path.push_back(object.kinematics.initial_pose_with_covariance.pose); } @@ -507,27 +539,49 @@ std::vector MetricsCalculator::averageFilterPath( average_pose.position = path.at(i).position; } + // skip if the points are too close + if ( + filtered_path.size() > 0 && + calcDistance2d(filtered_path.back().position, average_pose.position) < 0.5) { + continue; + } + + // skip if the difference between the current orientation and the azimuth angle is large + if (i > 0) { + const double azimuth = calcAzimuthAngle(path.at(i - 1).position, path.at(i).position); + const double yaw = tf2::getYaw(path.at(i).orientation); + if (tier4_autoware_utils::normalizeRadian(yaw - azimuth) > M_PI_2) { + continue; + } + } + // Placeholder for orientation to ensure structure integrity average_pose.orientation = path.at(i).orientation; filtered_path.push_back(average_pose); } - // Calculate yaw and convert to quaternion after averaging positions - for (size_t i = 0; i < filtered_path.size(); ++i) { - Pose & p = filtered_path[i]; - - // if the current pose is too close to the previous one, use the previous orientation - if (i > 0) { - const Pose & p_prev = filtered_path[i - 1]; - if (calcDistance2d(p_prev.position, p.position) < 0.1) { - p.orientation = p_prev.orientation; + // delete pose if the difference between the azimuth angle of the previous and next poses is large + if (filtered_path.size() > 2) { + auto it = filtered_path.begin() + 2; + while (it != filtered_path.end()) { + const double azimuth_to_prev = calcAzimuthAngle((it - 2)->position, (it - 1)->position); + const double azimuth_to_current = calcAzimuthAngle((it - 1)->position, it->position); + if ( + std::abs(tier4_autoware_utils::normalizeRadian(azimuth_to_prev - azimuth_to_current)) > + M_PI_2) { + it = filtered_path.erase(it); continue; } + ++it; } + } + // Calculate yaw and convert to quaternion after averaging positions + for (size_t i = 0; i < filtered_path.size(); ++i) { + Pose & p = filtered_path[i]; if (i < filtered_path.size() - 1) { - const double yaw = calcAzimuthAngle(p.position, filtered_path[i + 1].position); - filtered_path[i].orientation = createQuaternionFromYaw(yaw); + const double azimuth_to_next = calcAzimuthAngle(p.position, filtered_path[i + 1].position); + filtered_path[i].orientation = createQuaternionFromYaw(azimuth_to_next); } else if (filtered_path.size() > 1) { // For the last point, use the orientation of the second-to-last point p.orientation = filtered_path[i - 1].orientation; diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index 2975a1b4d6df8..dabd17b9db46a 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -115,7 +115,7 @@ class EvalTest : public ::testing::Test PredictedObject makePredictedObject( const std::vector> & predicted_path, - const uint8_t label = ObjectClassification::CAR) + const uint8_t label = ObjectClassification::CAR, const double velocity = 2.0) { PredictedObject object; object.object_id = uuid_; @@ -133,6 +133,10 @@ class EvalTest : public ::testing::Test object.kinematics.initial_pose_with_covariance.pose.orientation.z = 0.0; object.kinematics.initial_pose_with_covariance.pose.orientation.w = 1.0; + object.kinematics.initial_twist_with_covariance.twist.linear.x = velocity; + object.kinematics.initial_twist_with_covariance.twist.linear.y = 0.0; + object.kinematics.initial_twist_with_covariance.twist.linear.z = 0.0; + autoware_auto_perception_msgs::msg::PredictedPath path; for (size_t i = 0; i < predicted_path.size(); ++i) { geometry_msgs::msg::Pose pose; @@ -155,34 +159,35 @@ class EvalTest : public ::testing::Test PredictedObjects makePredictedObjects( const std::vector> & predicted_path, - const uint8_t label = ObjectClassification::CAR) + const uint8_t label = ObjectClassification::CAR, const double velocity = 2.0) { PredictedObjects objects; - objects.objects.push_back(makePredictedObject(predicted_path, label)); + objects.objects.push_back(makePredictedObject(predicted_path, label, velocity)); objects.header.stamp = rclcpp::Time(0); return objects; } PredictedObjects makeStraightPredictedObjects( - const double time, const uint8_t label = ObjectClassification::CAR) + const double time, const uint8_t label = ObjectClassification::CAR, const double velocity = 2.0) { std::vector> predicted_path; for (size_t i = 0; i <= time_horizon_ / time_step_; i++) { - predicted_path.push_back({velocity_ * (time + i * time_step_), 0.0}); + predicted_path.push_back({velocity * (time + i * time_step_), 0.0}); } - auto objects = makePredictedObjects(predicted_path, label); + auto objects = makePredictedObjects(predicted_path, label, velocity); objects.header.stamp = rclcpp::Time(0) + rclcpp::Duration::from_seconds(time); return objects; } PredictedObjects makeDeviatedStraightPredictedObjects( - const double time, const double deviation, const uint8_t label = ObjectClassification::CAR) + const double time, const double deviation, const uint8_t label = ObjectClassification::CAR, + const double velocity = 2.0) { std::vector> predicted_path; for (size_t i = 0; i <= time_horizon_ / time_step_; i++) { - predicted_path.push_back({velocity_ * (time + i * time_step_), deviation}); + predicted_path.push_back({velocity * (time + i * time_step_), deviation}); } - auto objects = makePredictedObjects(predicted_path, label); + auto objects = makePredictedObjects(predicted_path, label, velocity); objects.header.stamp = rclcpp::Time(0) + rclcpp::Duration::from_seconds(time); return objects; } @@ -249,7 +254,6 @@ class EvalTest : public ::testing::Test double time_delay_ = 5.0; double time_step_ = 0.5; double time_horizon_ = 10.0; - double velocity_ = 2.0; unique_identifier_msgs::msg::UUID uuid_; }; @@ -589,11 +593,12 @@ TEST_F(EvalTest, testYawRate_0) setTargetMetric("yaw_rate_CAR"); for (double time = 0; time <= time_delay_; time += time_step_) { - const auto objects = makeStraightPredictedObjects(time); + const auto objects = makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0); publishObjects(objects); } - const auto last_objects = makeStraightPredictedObjects(time_delay_ + time_step_); + const auto last_objects = + makeStraightPredictedObjects(time_delay_ + time_step_, ObjectClassification::CAR, 0.0); EXPECT_NEAR(publishObjectsAndGetMetric(last_objects), 0.0, epsilon); } @@ -605,12 +610,14 @@ TEST_F(EvalTest, testYawRate_01) const double yaw_rate = 0.1; for (double time = 0; time <= time_delay_; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), yaw_rate * time); publishObjects(objects); } for (double time = time_delay_ + time_step_; time < time_delay_ * 2; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), yaw_rate * time); EXPECT_NEAR(publishObjectsAndGetMetric(objects), yaw_rate, epsilon); } } @@ -623,12 +630,14 @@ TEST_F(EvalTest, testYawRate_minus_01) const double yaw_rate = 0.1; for (double time = 0; time <= time_delay_; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), -yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), -yaw_rate * time); publishObjects(objects); } for (double time = time_delay_ + time_step_; time < time_delay_ * 2; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), -yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), -yaw_rate * time); EXPECT_NEAR(publishObjectsAndGetMetric(objects), yaw_rate, epsilon); } } @@ -641,12 +650,14 @@ TEST_F(EvalTest, testYawRate_1) const double yaw_rate = 1.0; for (double time = 0; time <= time_delay_; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), yaw_rate * time); publishObjects(objects); } for (double time = time_delay_ + time_step_; time < time_delay_ * 2; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), yaw_rate * time); EXPECT_NEAR(publishObjectsAndGetMetric(objects), yaw_rate, epsilon); } } @@ -659,12 +670,14 @@ TEST_F(EvalTest, testYawRate_minus_1) const double yaw_rate = 1.0; for (double time = 0; time <= time_delay_; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), -yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), -yaw_rate * time); publishObjects(objects); } for (double time = time_delay_ + time_step_; time < time_delay_ * 2; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), -yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), -yaw_rate * time); EXPECT_NEAR(publishObjectsAndGetMetric(objects), yaw_rate, epsilon); } } @@ -677,12 +690,14 @@ TEST_F(EvalTest, testYawRate_5) const double yaw_rate = 5.0; for (double time = 0; time <= time_delay_; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), yaw_rate * time); publishObjects(objects); } for (double time = time_delay_ + time_step_; time < time_delay_ * 2; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), yaw_rate * time); EXPECT_NEAR(publishObjectsAndGetMetric(objects), yaw_rate, epsilon); } } @@ -695,12 +710,14 @@ TEST_F(EvalTest, testYawRate_minus_5) const double yaw_rate = 5.0; for (double time = 0; time <= time_delay_; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), -yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), -yaw_rate * time); publishObjects(objects); } for (double time = time_delay_ + time_step_; time < time_delay_ * 2; time += time_step_) { - const auto objects = rotateObjects(makeStraightPredictedObjects(time), -yaw_rate * time); + const auto objects = rotateObjects( + makeStraightPredictedObjects(time, ObjectClassification::CAR, 0.0), -yaw_rate * time); EXPECT_NEAR(publishObjectsAndGetMetric(objects), yaw_rate, epsilon); } } From 2fd07d1c6f8c5e61756ceb6bab4e205848420f8e Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 1 Apr 2024 22:40:00 +0900 Subject: [PATCH 07/29] feat(start_planner): add validation check to prevent over cropped paths (#6721) * add validation check to prevent over cropped paths Signed-off-by: Daniel Sanchez * use constexpr for magic number Signed-off-by: Daniel Sanchez * make the threshold a param Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../config/start_planner.param.yaml | 1 + .../data_structs.hpp | 1 + .../src/manager.cpp | 4 ++++ .../src/shift_pull_out.cpp | 20 +++++++++++++++++++ 4 files changed, 26 insertions(+) diff --git a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml index b17db7f907471..46469de68149e 100644 --- a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml @@ -27,6 +27,7 @@ shift_collision_check_distance_from_end: -10.0 minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 + maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation" lateral_jerk: 0.5 lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp index 1e32237ffd870..0e85c1d0e76b3 100644 --- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp +++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp @@ -84,6 +84,7 @@ struct StartPlannerParameters double minimum_lateral_acc{0.0}; double maximum_curvature{0.0}; // maximum curvature considered in the path generation double deceleration_interval{0.0}; + double maximum_longitudinal_deviation{0.0}; // geometric pull out bool enable_geometric_pull_out{false}; double geometric_collision_check_distance_from_end; diff --git a/planning/behavior_path_start_planner_module/src/manager.cpp b/planning/behavior_path_start_planner_module/src/manager.cpp index 050d591128a15..794577d7cc7aa 100644 --- a/planning/behavior_path_start_planner_module/src/manager.cpp +++ b/planning/behavior_path_start_planner_module/src/manager.cpp @@ -88,6 +88,8 @@ void StartPlannerModuleManager::init(rclcpp::Node * node) p.minimum_lateral_acc = node->declare_parameter(ns + "minimum_lateral_acc"); p.maximum_curvature = node->declare_parameter(ns + "maximum_curvature"); p.deceleration_interval = node->declare_parameter(ns + "deceleration_interval"); + p.maximum_longitudinal_deviation = + node->declare_parameter(ns + "maximum_longitudinal_deviation"); // geometric pull out p.enable_geometric_pull_out = node->declare_parameter(ns + "enable_geometric_pull_out"); p.geometric_collision_check_distance_from_end = @@ -424,6 +426,8 @@ void StartPlannerModuleManager::updateModuleParams( updateParam(parameters, ns + "minimum_lateral_acc", p->minimum_lateral_acc); updateParam(parameters, ns + "maximum_curvature", p->maximum_curvature); updateParam(parameters, ns + "deceleration_interval", p->deceleration_interval); + updateParam( + parameters, ns + "maximum_longitudinal_deviation", p->maximum_longitudinal_deviation); updateParam(parameters, ns + "enable_geometric_pull_out", p->enable_geometric_pull_out); updateParam(parameters, ns + "divide_pull_out_path", p->divide_pull_out_path); updateParam( diff --git a/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp index c6a56139e63d2..592f57ed97dcf 100644 --- a/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -111,6 +111,26 @@ std::optional ShiftPullOut::plan(const Pose & start_pose, const Pos const auto cropped_path = lane_departure_checker_->cropPointsOutsideOfLanes( lanelet_map_ptr, shift_path, start_segment_idx); if (cropped_path.points.empty()) continue; + + // check that the path is not cropped in excess and there is not excessive longitudinal + // deviation between the first 2 points + auto validate_cropped_path = [&](const auto & cropped_path) -> bool { + if (cropped_path.points.size() < 2) return false; + const double max_long_offset = parameters_.maximum_longitudinal_deviation; + const size_t start_segment_idx_after_crop = + motion_utils::findFirstNearestIndexWithSoftConstraints(cropped_path.points, start_pose); + + // if the start segment id after crop is not 0, then the cropping is not excessive + if (start_segment_idx_after_crop != 0) return true; + + const auto long_offset_to_closest_point = motion_utils::calcLongitudinalOffsetToSegment( + cropped_path.points, start_segment_idx_after_crop, start_pose.position); + const auto long_offset_to_next_point = motion_utils::calcLongitudinalOffsetToSegment( + cropped_path.points, start_segment_idx_after_crop + 1, start_pose.position); + return std::abs(long_offset_to_closest_point - long_offset_to_next_point) < max_long_offset; + }; + + if (!validate_cropped_path(cropped_path)) continue; shift_path.points = cropped_path.points; shift_path.header = planner_data_->route_handler->getRouteHeader(); From 5f9444de3d89f6a1cf1a6ca4517b8c8f90841432 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 1 Apr 2024 22:40:19 +0900 Subject: [PATCH 08/29] feat(obstacle_avoidance_planner): sanitize reference points (#6704) * feat(obstacle_avoidance_planner): sanitize reference points Signed-off-by: Daniel Sanchez * bugfix, first point was excluded Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../utils/trajectory_utils.hpp | 2 ++ .../src/mpt_optimizer.cpp | 4 ++++ .../src/utils/trajectory_utils.cpp | 18 ++++++++++++++++++ 3 files changed, 24 insertions(+) diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp index fb49a7fa446be..d119acf09b6ea 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp @@ -129,6 +129,8 @@ ReferencePoint convertToReferencePoint(const TrajectoryPoint & traj_point); std::vector convertToReferencePoints( const std::vector & traj_points); +std::vector sanitizePoints(const std::vector & points); + void compensateLastPose( const PathPoint & last_path_point, std::vector & traj_points, const double delta_dist_threshold, const double delta_yaw_threshold); diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp index 7057a2885fd52..94dc62b1335d4 100644 --- a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp +++ b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp @@ -567,6 +567,9 @@ std::vector MPTOptimizer::calcReferencePoints( ref_points = motion_utils::cropPoints( ref_points, p.ego_pose.position, ego_seg_idx, forward_traj_length + tmp_margin, backward_traj_length + tmp_margin); + + // remove repeated points + ref_points = trajectory_utils::sanitizePoints(ref_points); SplineInterpolationPoints2d ref_points_spline(ref_points); ego_seg_idx = trajectory_utils::findEgoSegmentIndex(ref_points, p.ego_pose, ego_nearest_param_); @@ -586,6 +589,7 @@ std::vector MPTOptimizer::calcReferencePoints( // NOTE: This must be after backward cropping. // New start point may be added and resampled. Spline calculation is required. updateFixedPoint(ref_points); + ref_points = trajectory_utils::sanitizePoints(ref_points); ref_points_spline = SplineInterpolationPoints2d(ref_points); // 6. update bounds diff --git a/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp b/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp index 453d55bd7f770..651b11b28e8bc 100644 --- a/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp +++ b/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp @@ -79,6 +79,24 @@ std::vector convertToReferencePoints( return ref_points; } +std::vector sanitizePoints(const std::vector & points) +{ + std::vector output; + for (size_t i = 0; i < points.size(); i++) { + if (i > 0) { + const auto & current_pos = points.at(i).pose.position; + const auto & prev_pos = points.at(i - 1).pose.position; + if ( + std::fabs(current_pos.x - prev_pos.x) < 1e-6 && + std::fabs(current_pos.y - prev_pos.y) < 1e-6) { + continue; + } + } + output.push_back(points.at(i)); + } + return output; +} + void compensateLastPose( const PathPoint & last_path_point, std::vector & traj_points, const double delta_dist_threshold, const double delta_yaw_threshold) From 3da976cd489361eba898febd10343404350ddfa9 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 2 Apr 2024 09:54:15 +0900 Subject: [PATCH 09/29] fix(pose_initializer): added "user_defined_initial_pose" to dummy localization (#6723) Added "used_defined_initial_pose" to dummy localization Signed-off-by: Shintaro Sakoda --- launch/tier4_simulator_launch/launch/simulator.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 4af7b3abaa2e6..76fb66e4ebfdf 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -127,6 +127,8 @@ + + From faeee272b5aab8ab9e841c1b44aab730560aff8a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 2 Apr 2024 15:15:31 +0900 Subject: [PATCH 10/29] feat(static_centerline_optimizer): static centerline optimizer with GUI (#6717) feat: add GUI for static centerline optimizer Signed-off-by: Takayuki Murooka --- .../static_centerline_optimizer_node.hpp | 18 ++ .../static_centerline_optimizer.launch.xml | 1 + .../scripts/centerline_updater_helper.py | 198 ++++++++++++++++++ .../scripts/tmp/run.sh | 2 +- .../src/static_centerline_optimizer_node.cpp | 67 ++++++ 5 files changed, 285 insertions(+), 1 deletion(-) create mode 100755 planning/static_centerline_optimizer/scripts/centerline_updater_helper.py diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp index fa7043de42f5c..f25a6771aa0cb 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp @@ -22,6 +22,9 @@ #include "static_centerline_optimizer/type_alias.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" +#include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/int32.hpp" + #include #include #include @@ -67,13 +70,28 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node HADMapBin::ConstSharedPtr map_bin_ptr_{nullptr}; std::shared_ptr route_handler_ptr_{nullptr}; + int traj_start_index_{0}; + int traj_end_index_{0}; + struct MetaDataToSaveMap + { + std::vector optimized_traj_points{}; + std::vector route_lane_ids{}; + }; + std::optional meta_data_to_save_map_{std::nullopt}; + // publisher rclcpp::Publisher::SharedPtr pub_map_bin_{nullptr}; rclcpp::Publisher::SharedPtr pub_raw_path_with_lane_id_{nullptr}; rclcpp::Publisher::SharedPtr pub_raw_path_{nullptr}; rclcpp::Publisher::SharedPtr pub_debug_unsafe_footprints_{nullptr}; + rclcpp::Publisher::SharedPtr pub_whole_optimized_centerline_{nullptr}; rclcpp::Publisher::SharedPtr pub_optimized_centerline_{nullptr}; + // subscriber + rclcpp::Subscription::SharedPtr sub_traj_start_index_; + rclcpp::Subscription::SharedPtr sub_traj_end_index_; + rclcpp::Subscription::SharedPtr sub_save_map_; + // service rclcpp::Service::SharedPtr srv_load_map_; rclcpp::Service::SharedPtr srv_plan_route_; diff --git a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml b/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml index 37a9abc47bfeb..2e163e2eb93eb 100644 --- a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml +++ b/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml @@ -56,6 +56,7 @@ + diff --git a/planning/static_centerline_optimizer/scripts/centerline_updater_helper.py b/planning/static_centerline_optimizer/scripts/centerline_updater_helper.py new file mode 100755 index 0000000000000..00a646406f14f --- /dev/null +++ b/planning/static_centerline_optimizer/scripts/centerline_updater_helper.py @@ -0,0 +1,198 @@ +#!/bin/env python3 + +# Copyright 2024 TIER IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +import sys +import time + +from PyQt5 import QtCore +from PyQt5.QtWidgets import QApplication +from PyQt5.QtWidgets import QGridLayout +from PyQt5.QtWidgets import QMainWindow +from PyQt5.QtWidgets import QPushButton +from PyQt5.QtWidgets import QSizePolicy +from PyQt5.QtWidgets import QSlider +from PyQt5.QtWidgets import QWidget +from autoware_auto_planning_msgs.msg import Trajectory +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSDurabilityPolicy +from rclpy.qos import QoSProfile +from std_msgs.msg import Bool +from std_msgs.msg import Int32 + + +class CenterlineUpdaterWidget(QMainWindow): + def __init__(self): + super(self.__class__, self).__init__() + self.setupUI() + + def setupUI(self): + self.setObjectName("MainWindow") + self.resize(480, 120) + self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint) + + central_widget = QWidget(self) + central_widget.setObjectName("central_widget") + + self.grid_layout = QGridLayout(central_widget) + self.grid_layout.setContentsMargins(10, 10, 10, 10) + self.grid_layout.setObjectName("grid_layout") + + # button to update the trajectory's start and end index + self.update_button = QPushButton("update slider") + self.update_button.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) + self.update_button.clicked.connect(self.onUpdateButton) + + # button to reset the trajectory's start and end index + self.reset_button = QPushButton("reset") + self.reset_button.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) + self.reset_button.clicked.connect(self.onResetButton) + + # button to save map + self.save_map_button = QPushButton("save map") + self.save_map_button.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) + + # slide of the trajectory's start and end index + self.traj_start_index_slider = QSlider(QtCore.Qt.Horizontal) + self.traj_end_index_slider = QSlider(QtCore.Qt.Horizontal) + self.min_traj_start_index = 0 + self.max_traj_end_index = None + + # set layout + self.grid_layout.addWidget(self.update_button, 1, 0, 1, -1) + self.grid_layout.addWidget(self.reset_button, 2, 0, 1, -1) + self.grid_layout.addWidget(self.save_map_button, 3, 0, 1, -1) + self.grid_layout.addWidget(self.traj_start_index_slider, 4, 0, 1, -1) + self.grid_layout.addWidget(self.traj_end_index_slider, 5, 0, 1, -1) + self.setCentralWidget(central_widget) + + def initWithEndIndex(self, max_traj_end_index): + self.max_traj_end_index = max_traj_end_index + + # initialize slider + self.displayed_min_traj_start_index = self.min_traj_start_index + self.displayed_max_traj_end_index = self.max_traj_end_index + self.initializeSlider() + + def initializeSlider(self, move_value_to_end=True): + self.traj_start_index_slider.setMinimum(0) + self.traj_end_index_slider.setMinimum(0) + self.traj_start_index_slider.setMaximum( + self.displayed_max_traj_end_index - self.displayed_min_traj_start_index + ) + self.traj_end_index_slider.setMaximum( + self.displayed_max_traj_end_index - self.displayed_min_traj_start_index + ) + + if move_value_to_end: + self.traj_start_index_slider.setValue(0) + self.traj_end_index_slider.setValue(self.traj_end_index_slider.maximum()) + + def onResetButton(self, event): + current_traj_start_index = self.displayed_min_traj_start_index + current_traj_end_index = self.displayed_max_traj_end_index + + self.displayed_min_traj_start_index = self.min_traj_start_index + self.displayed_max_traj_end_index = self.max_traj_end_index + + self.initializeSlider(False) + self.traj_start_index_slider.setValue(current_traj_start_index) + if ( + current_traj_start_index == self.min_traj_start_index + and current_traj_end_index == self.max_traj_end_index + ): + self.traj_end_index_slider.setValue(self.displayed_max_traj_end_index) + else: + self.traj_end_index_slider.setValue( + current_traj_start_index + self.traj_end_index_slider.value() + ) + + def onUpdateButton(self, event): + current_traj_start_index = self.getCurrentStartIndex() + current_traj_end_index = self.getCurrentEndIndex() + + self.displayed_min_traj_start_index = current_traj_start_index + self.displayed_max_traj_end_index = current_traj_end_index + + self.initializeSlider() + + def getCurrentStartIndex(self): + return self.displayed_min_traj_start_index + self.traj_start_index_slider.value() + + def getCurrentEndIndex(self): + return self.displayed_min_traj_start_index + self.traj_end_index_slider.value() + + +class CenterlineUpdaterHelper(Node): + def __init__(self): + super().__init__("centerline_updater_helper") + # Qt + self.widget = CenterlineUpdaterWidget() + self.widget.show() + self.widget.save_map_button.clicked.connect(self.onSaveMapButtonPushed) + self.widget.traj_start_index_slider.valueChanged.connect(self.onStartIndexChanged) + self.widget.traj_end_index_slider.valueChanged.connect(self.onEndIndexChanged) + + # ROS + self.pub_save_map = self.create_publisher(Bool, "~/save_map", 1) + self.pub_traj_start_index = self.create_publisher(Int32, "~/traj_start_index", 1) + self.pub_traj_end_index = self.create_publisher(Int32, "~/traj_end_index", 1) + + transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) + self.sub_whole_centerline = self.create_subscription( + Trajectory, + "/static_centerline_optimizer/output_whole_centerline", + self.onWholeCenterline, + transient_local_qos, + ) + + while self.widget.max_traj_end_index is None: + rclpy.spin_once(self, timeout_sec=0.01) + time.sleep(0.1) + + def onWholeCenterline(self, whole_centerline): + self.widget.initWithEndIndex(len(whole_centerline.points) - 1) + + def onSaveMapButtonPushed(self, event): + msg = Bool() + msg.data = True + self.pub_save_map.publish(msg) + + def onStartIndexChanged(self, event): + msg = Int32() + msg.data = self.widget.getCurrentStartIndex() + self.pub_traj_start_index.publish(msg) + + def onEndIndexChanged(self, event): + msg = Int32() + msg.data = self.widget.getCurrentEndIndex() + self.pub_traj_end_index.publish(msg) + + +def main(args=None): + app = QApplication(sys.argv) + + rclpy.init(args=args) + node = CenterlineUpdaterHelper() + + while True: + app.processEvents() + rclpy.spin_once(node, timeout_sec=0.01) + + +if __name__ == "__main__": + main() diff --git a/planning/static_centerline_optimizer/scripts/tmp/run.sh b/planning/static_centerline_optimizer/scripts/tmp/run.sh index 07857a9d923a1..9e475b9d8759b 100755 --- a/planning/static_centerline_optimizer/scripts/tmp/run.sh +++ b/planning/static_centerline_optimizer/scripts/tmp/run.sh @@ -1,3 +1,3 @@ #!/bin/bash -ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_background:=false lanelet2_input_file_path:="$HOME/AutonomousDrivingScenarios/map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus +ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp index d98341ecb2e23..844352f577432 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp @@ -26,11 +26,14 @@ #include "static_centerline_optimizer/type_alias.hpp" #include "static_centerline_optimizer/utils.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" +#include "tier4_autoware_utils/ros/parameter.hpp" #include #include #include +#include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/int32.hpp" #include #include @@ -41,6 +44,7 @@ #include #include +#include #include #include #include @@ -202,6 +206,14 @@ std::vector check_lanelet_connection( return unconnected_lane_ids; } + +std_msgs::msg::Header createHeader(const rclcpp::Time & now) +{ + std_msgs::msg::Header header; + header.frame_id = "map"; + header.stamp = now; + return header; +} } // namespace StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( @@ -213,6 +225,8 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( pub_raw_path_with_lane_id_ = create_publisher("input_centerline", create_transient_local_qos()); pub_raw_path_ = create_publisher("debug/raw_centerline", create_transient_local_qos()); + pub_whole_optimized_centerline_ = + create_publisher("output_whole_centerline", create_transient_local_qos()); pub_optimized_centerline_ = create_publisher("output_centerline", create_transient_local_qos()); @@ -220,6 +234,53 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( pub_debug_unsafe_footprints_ = create_publisher("debug/unsafe_footprints", create_transient_local_qos()); + // subscribers + sub_traj_start_index_ = create_subscription( + "/centerline_updater_helper/traj_start_index", rclcpp::QoS{1}, + [this](const std_msgs::msg::Int32 & msg) { + if (!meta_data_to_save_map_ || traj_end_index_ + 1 < msg.data) { + return; + } + traj_start_index_ = msg.data; + + const auto & d = meta_data_to_save_map_; + const auto selected_optimized_traj_points = std::vector( + d->optimized_traj_points.begin() + traj_start_index_, + d->optimized_traj_points.begin() + traj_end_index_ + 1); + + pub_optimized_centerline_->publish(motion_utils::convertToTrajectory( + selected_optimized_traj_points, createHeader(this->now()))); + }); + sub_traj_end_index_ = create_subscription( + "/centerline_updater_helper/traj_end_index", rclcpp::QoS{1}, + [this](const std_msgs::msg::Int32 & msg) { + if (!meta_data_to_save_map_ || msg.data + 1 < traj_start_index_) { + return; + } + traj_end_index_ = msg.data; + + const auto & d = meta_data_to_save_map_; + const auto selected_optimized_traj_points = std::vector( + d->optimized_traj_points.begin() + traj_start_index_, + d->optimized_traj_points.begin() + traj_end_index_ + 1); + + pub_optimized_centerline_->publish(motion_utils::convertToTrajectory( + selected_optimized_traj_points, createHeader(this->now()))); + }); + sub_save_map_ = create_subscription( + "/centerline_updater_helper/save_map", rclcpp::QoS{1}, [this](const std_msgs::msg::Bool & msg) { + const auto lanelet2_output_file_path = + tier4_autoware_utils::getOrDeclareParameter( + *this, "lanelet2_output_file_path"); + if (!meta_data_to_save_map_ || msg.data) { + const auto & d = meta_data_to_save_map_; + const auto selected_optimized_traj_points = std::vector( + d->optimized_traj_points.begin() + traj_start_index_, + d->optimized_traj_points.begin() + traj_end_index_ + 1); + save_map(lanelet2_output_file_path, d->route_lane_ids, selected_optimized_traj_points); + } + }); + // services callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); srv_load_map_ = create_service( @@ -258,7 +319,11 @@ void StaticCenterlineOptimizerNode::run() load_map(lanelet2_input_file_path); const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); const auto optimized_traj_points = plan_path(route_lane_ids); + traj_start_index_ = 0; + traj_end_index_ = optimized_traj_points.size() - 1; save_map(lanelet2_output_file_path, route_lane_ids, optimized_traj_points); + + meta_data_to_save_map_ = MetaDataToSaveMap{optimized_traj_points, route_lane_ids}; } void StaticCenterlineOptimizerNode::load_map(const std::string & lanelet2_input_file_path) @@ -450,6 +515,8 @@ std::vector StaticCenterlineOptimizerNode::plan_path( // smooth trajectory and road collision avoidance const auto optimized_traj_points = optimize_trajectory(raw_path); + pub_whole_optimized_centerline_->publish( + motion_utils::convertToTrajectory(optimized_traj_points, raw_path.header)); pub_optimized_centerline_->publish( motion_utils::convertToTrajectory(optimized_traj_points, raw_path.header)); RCLCPP_INFO( From a8de91fbb22e01c0e20e9789cba0231dd79b77cd Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 2 Apr 2024 16:57:41 +0900 Subject: [PATCH 11/29] feat(multi_object_tracker): debug timer to work with reduced replay rate recomputation (#6706) * fix: mot debug timer, full set of timings Signed-off-by: Taekjin LEE * fix: reduce timers, rename topics Signed-off-by: Taekjin LEE * fix: separate debugger Signed-off-by: Taekjin LEE * chore: fix comments Signed-off-by: Taekjin LEE * fix: fix stamp initialization, remove unused function Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../multi_object_tracker/CMakeLists.txt | 1 + .../include/multi_object_tracker/debugger.hpp | 68 +++++++++ .../multi_object_tracker_core.hpp | 42 +----- .../multi_object_tracker/src/debugger.cpp | 138 ++++++++++++++++++ .../src/multi_object_tracker_core.cpp | 111 +------------- 5 files changed, 210 insertions(+), 150 deletions(-) create mode 100644 perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp create mode 100644 perception/multi_object_tracker/src/debugger.cpp diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index fe90be8c583c2..8d835fec20a9b 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -22,6 +22,7 @@ include_directories( # Generate exe file set(MULTI_OBJECT_TRACKER_SRC src/multi_object_tracker_core.cpp + src/debugger.cpp src/data_association/data_association.cpp src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp src/tracker/motion_model/motion_model_base.cpp diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp b/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp new file mode 100644 index 0000000000000..ca1b20d26c25d --- /dev/null +++ b/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp @@ -0,0 +1,68 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// + +#ifndef MULTI_OBJECT_TRACKER__DEBUGGER_HPP_ +#define MULTI_OBJECT_TRACKER__DEBUGGER_HPP_ + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +/** + * @brief Debugger class for multi object tracker + * @details This class is used to publish debug information of multi object tracker + */ +class TrackerDebugger +{ +public: + explicit TrackerDebugger(rclcpp::Node & node); + void publishTentativeObjects( + const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const; + void startMeasurementTime( + const rclcpp::Time & now, const rclcpp::Time & measurement_header_stamp); + void endPublishTime(const rclcpp::Time & now, const rclcpp::Time & object_time); + void setupDiagnostics(); + void checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat); + struct DEBUG_SETTINGS + { + bool publish_processing_time; + bool publish_tentative_objects; + double diagnostics_warn_delay; + double diagnostics_error_delay; + } debug_settings_; + double pipeline_latency_ms_ = 0.0; + diagnostic_updater::Updater diagnostic_updater_; + +private: + void loadParameters(); + rclcpp::Node & node_; + rclcpp::Publisher::SharedPtr + debug_tentative_objects_pub_; + std::unique_ptr processing_time_publisher_; + rclcpp::Time last_input_stamp_; + rclcpp::Time stamp_process_start_; + rclcpp::Time stamp_publish_output_; +}; + +#endif // MULTI_OBJECT_TRACKER__DEBUGGER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp index ca59f994a3b0e..94cc7185bd518 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp @@ -20,12 +20,10 @@ #define MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_ #include "multi_object_tracker/data_association/data_association.hpp" +#include "multi_object_tracker/debugger.hpp" #include "multi_object_tracker/tracker/model/tracker_base.hpp" #include -#include -#include -#include #include #include @@ -41,9 +39,6 @@ #include #endif -#include -#include - #include #include @@ -53,41 +48,6 @@ #include #include -/** - * @brief Debugger class for multi object tracker - * @details This class is used to publish debug information of multi object tracker - */ -class TrackerDebugger -{ -public: - explicit TrackerDebugger(rclcpp::Node & node); - void publishProcessingTime(); - void publishTentativeObjects( - const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const; - void startStopWatch(); - void startMeasurementTime(const rclcpp::Time & measurement_header_stamp); - void setupDiagnostics(); - void checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat); - struct DEBUG_SETTINGS - { - bool publish_processing_time; - bool publish_tentative_objects; - double diagnostics_warn_delay; - double diagnostics_error_delay; - } debug_settings_; - double elapsed_time_from_sensor_input_ = 0.0; - diagnostic_updater::Updater diagnostic_updater_; - -private: - void loadParameters(); - rclcpp::Node & node_; - rclcpp::Publisher::SharedPtr - debug_tentative_objects_pub_; - std::unique_ptr> stop_watch_ptr_; - std::unique_ptr processing_time_publisher_; - rclcpp::Time last_input_stamp_; -}; - class MultiObjectTracker : public rclcpp::Node { public: diff --git a/perception/multi_object_tracker/src/debugger.cpp b/perception/multi_object_tracker/src/debugger.cpp new file mode 100644 index 0000000000000..e3fc58dd5d692 --- /dev/null +++ b/perception/multi_object_tracker/src/debugger.cpp @@ -0,0 +1,138 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// + +#include "multi_object_tracker/debugger.hpp" + +#include + +TrackerDebugger::TrackerDebugger(rclcpp::Node & node) +: diagnostic_updater_(&node), + node_(node), + last_input_stamp_(node.now()), + stamp_process_start_(node.now()), + stamp_publish_output_(node.now()) +{ + // declare debug parameters to decide whether to publish debug topics + loadParameters(); + // initialize debug publishers + if (debug_settings_.publish_processing_time) { + processing_time_publisher_ = + std::make_unique(&node_, "multi_object_tracker"); + } + + if (debug_settings_.publish_tentative_objects) { + debug_tentative_objects_pub_ = + node_.create_publisher( + "debug/tentative_objects", rclcpp::QoS{1}); + } + + // initialize stop watch and diagnostics + setupDiagnostics(); +} + +void TrackerDebugger::setupDiagnostics() +{ + diagnostic_updater_.setHardwareID(node_.get_name()); + diagnostic_updater_.add( + "Perception delay check from original header stamp", this, &TrackerDebugger::checkDelay); + diagnostic_updater_.setPeriod(0.1); +} + +void TrackerDebugger::loadParameters() +{ + try { + debug_settings_.publish_processing_time = + node_.declare_parameter("publish_processing_time"); + debug_settings_.publish_tentative_objects = + node_.declare_parameter("publish_tentative_objects"); + debug_settings_.diagnostics_warn_delay = + node_.declare_parameter("diagnostics_warn_delay"); + debug_settings_.diagnostics_error_delay = + node_.declare_parameter("diagnostics_error_delay"); + } catch (const std::exception & e) { + RCLCPP_WARN(node_.get_logger(), "Failed to declare parameter: %s", e.what()); + debug_settings_.publish_processing_time = false; + debug_settings_.publish_tentative_objects = false; + debug_settings_.diagnostics_warn_delay = 0.5; + debug_settings_.diagnostics_error_delay = 1.0; + } +} + +void TrackerDebugger::checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + const double delay = pipeline_latency_ms_; // [s] + + if (delay == 0.0) { + stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Detection delay is not calculated."); + } else if (delay < debug_settings_.diagnostics_warn_delay) { + stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Detection delay is acceptable"); + } else if (delay < debug_settings_.diagnostics_error_delay) { + stat.summary( + diagnostic_msgs::msg::DiagnosticStatus::WARN, "Detection delay is over warn threshold."); + } else { + stat.summary( + diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Detection delay is over error threshold."); + } + + stat.add("Detection delay", delay); +} + +void TrackerDebugger::publishTentativeObjects( + const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const +{ + if (debug_settings_.publish_tentative_objects) { + debug_tentative_objects_pub_->publish(tentative_objects); + } +} + +void TrackerDebugger::startMeasurementTime( + const rclcpp::Time & now, const rclcpp::Time & measurement_header_stamp) +{ + last_input_stamp_ = measurement_header_stamp; + stamp_process_start_ = now; + if (debug_settings_.publish_processing_time) { + double input_latency_ms = (now - last_input_stamp_).seconds() * 1e3; + processing_time_publisher_->publish( + "debug/input_latency_ms", input_latency_ms); + } +} + +void TrackerDebugger::endPublishTime(const rclcpp::Time & now, const rclcpp::Time & object_time) +{ + const auto current_time = now; + // pipeline latency: time from sensor measurement to publish + pipeline_latency_ms_ = (current_time - last_input_stamp_).seconds() * 1e3; + if (debug_settings_.publish_processing_time) { + // processing time: time between input and publish + double processing_time_ms = (current_time - stamp_process_start_).seconds() * 1e3; + // cycle time: time between two consecutive publish + double cyclic_time_ms = (current_time - stamp_publish_output_).seconds() * 1e3; + // measurement to tracked-object time: time from the sensor measurement to the publishing object + // time If there is not latency compensation, this value is zero + double measurement_to_object_ms = (object_time - last_input_stamp_).seconds() * 1e3; + + // starting from the measurement time + processing_time_publisher_->publish( + "debug/pipeline_latency_ms", pipeline_latency_ms_); + processing_time_publisher_->publish( + "debug/cyclic_time_ms", cyclic_time_ms); + processing_time_publisher_->publish( + "debug/processing_time_ms", processing_time_ms); + processing_time_publisher_->publish( + "debug/meas_to_tracked_object_ms", measurement_to_object_ms); + } + stamp_publish_output_ = current_time; +} diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index fa609ed9ff9c7..b8e19d4ca2df4 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -66,113 +66,6 @@ boost::optional getTransformAnonymous( } // namespace -TrackerDebugger::TrackerDebugger(rclcpp::Node & node) -: diagnostic_updater_(&node), node_(node), last_input_stamp_(node.now()) -{ - // declare debug parameters to decide whether to publish debug topics - loadParameters(); - // initialize debug publishers - stop_watch_ptr_ = std::make_unique>(); - if (debug_settings_.publish_processing_time) { - processing_time_publisher_ = - std::make_unique(&node_, "multi_object_tracker"); - } - - if (debug_settings_.publish_tentative_objects) { - debug_tentative_objects_pub_ = - node_.create_publisher( - "debug/tentative_objects", rclcpp::QoS{1}); - } - - // initialize stop watch and diagnostics - startStopWatch(); - setupDiagnostics(); -} - -void TrackerDebugger::setupDiagnostics() -{ - diagnostic_updater_.setHardwareID(node_.get_name()); - diagnostic_updater_.add( - "Perception delay check from original header stamp", this, &TrackerDebugger::checkDelay); - diagnostic_updater_.setPeriod(0.1); -} - -void TrackerDebugger::loadParameters() -{ - try { - debug_settings_.publish_processing_time = - node_.declare_parameter("publish_processing_time"); - debug_settings_.publish_tentative_objects = - node_.declare_parameter("publish_tentative_objects"); - debug_settings_.diagnostics_warn_delay = - node_.declare_parameter("diagnostics_warn_delay"); - debug_settings_.diagnostics_error_delay = - node_.declare_parameter("diagnostics_error_delay"); - } catch (const std::exception & e) { - RCLCPP_WARN(node_.get_logger(), "Failed to declare parameter: %s", e.what()); - debug_settings_.publish_processing_time = false; - debug_settings_.publish_tentative_objects = false; - debug_settings_.diagnostics_warn_delay = 0.5; - debug_settings_.diagnostics_error_delay = 1.0; - } -} - -void TrackerDebugger::checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat) -{ - const double delay = elapsed_time_from_sensor_input_; // [s] - - if (delay == 0.0) { - stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Detection delay is not calculated."); - } else if (delay < debug_settings_.diagnostics_warn_delay) { - stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Detection delay is acceptable"); - } else if (delay < debug_settings_.diagnostics_error_delay) { - stat.summary( - diagnostic_msgs::msg::DiagnosticStatus::WARN, "Detection delay is over warn threshold."); - } else { - stat.summary( - diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Detection delay is over error threshold."); - } - - stat.add("Detection delay", delay); -} - -void TrackerDebugger::publishProcessingTime() -{ - const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true); - const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true); - const auto current_time = node_.now(); - elapsed_time_from_sensor_input_ = (current_time - last_input_stamp_).seconds(); - if (debug_settings_.publish_processing_time) { - processing_time_publisher_->publish( - "debug/cyclic_time_ms", cyclic_time_ms); - processing_time_publisher_->publish( - "debug/processing_time_ms", processing_time_ms); - processing_time_publisher_->publish( - "debug/pipeline_latency_ms", elapsed_time_from_sensor_input_ * 1e3); - } -} - -void TrackerDebugger::publishTentativeObjects( - const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const -{ - if (debug_settings_.publish_tentative_objects) { - debug_tentative_objects_pub_->publish(tentative_objects); - } -} - -void TrackerDebugger::startStopWatch() -{ - stop_watch_ptr_->tic("cyclic_time"); - stop_watch_ptr_->tic("processing_time"); -} - -void TrackerDebugger::startMeasurementTime(const rclcpp::Time & measurement_header_stamp) -{ - last_input_stamp_ = measurement_header_stamp; - // start measuring processing time - stop_watch_ptr_->toc("processing_time", true); -} - MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("multi_object_tracker", node_options), tf_buffer_(this->get_clock()), @@ -243,7 +136,7 @@ void MultiObjectTracker::onMeasurement( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg) { /* keep the latest input stamp and check transform*/ - debugger_->startMeasurementTime(rclcpp::Time(input_objects_msg->header.stamp)); + debugger_->startMeasurementTime(this->now(), rclcpp::Time(input_objects_msg->header.stamp)); const auto self_transform = getTransformAnonymous( tf_buffer_, "base_link", world_frame_id_, input_objects_msg->header.stamp); if (!self_transform) { @@ -472,7 +365,7 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const published_time_publisher_->publish_if_subscribed(tracked_objects_pub_, output_msg.header.stamp); // Debugger Publish if enabled - debugger_->publishProcessingTime(); + debugger_->endPublishTime(this->now(), time); debugger_->publishTentativeObjects(tentative_objects_msg); } From ac1cd436eb8b41628dc5470ccbca0bdc36a410ac Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 2 Apr 2024 18:30:45 +0900 Subject: [PATCH 12/29] fix(object_recognition_utils): check polygon area on iou calculation (#6701) * feat(object_recognition_utils): check input polygon on IoU calculations Signed-off-by: Taekjin LEE * fix: MIN_AREA close to the epsilon of float 1e-6 Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../object_recognition_utils/matching.hpp | 20 ++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp b/common/object_recognition_utils/include/object_recognition_utils/matching.hpp index 5e8b6a3d49890..e9b924023f62e 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp +++ b/common/object_recognition_utils/include/object_recognition_utils/matching.hpp @@ -29,6 +29,8 @@ namespace object_recognition_utils { using tier4_autoware_utils::Polygon2d; +// minimum area to avoid division by zero +static const double MIN_AREA = 1e-6; inline double getConvexShapeArea(const Polygon2d & source_polygon, const Polygon2d & target_polygon) { @@ -66,10 +68,12 @@ template double get2dIoU(const T1 source_object, const T2 target_object, const double min_union_area = 0.01) { const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object); + if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0; const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object); + if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0; const double intersection_area = getIntersectionArea(source_polygon, target_polygon); - if (intersection_area == 0.0) return 0.0; + if (intersection_area < MIN_AREA) return 0.0; const double union_area = getUnionArea(source_polygon, target_polygon); const double iou = @@ -81,7 +85,9 @@ template double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object) { const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object); + if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0; const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object); + if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0; const double intersection_area = getIntersectionArea(source_polygon, target_polygon); const double union_area = getUnionArea(source_polygon, target_polygon); @@ -95,11 +101,13 @@ template double get2dPrecision(const T1 source_object, const T2 target_object) { const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object); + const double source_area = boost::geometry::area(source_polygon); + if (source_area < MIN_AREA) return 0.0; const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object); + if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0; const double intersection_area = getIntersectionArea(source_polygon, target_polygon); - if (intersection_area == 0.0) return 0.0; - const double source_area = boost::geometry::area(source_polygon); + if (intersection_area < MIN_AREA) return 0.0; return std::min(1.0, intersection_area / source_area); } @@ -108,11 +116,13 @@ template double get2dRecall(const T1 source_object, const T2 target_object) { const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object); + if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0; const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object); + const double target_area = boost::geometry::area(target_polygon); + if (target_area < MIN_AREA) return 0.0; const double intersection_area = getIntersectionArea(source_polygon, target_polygon); - if (intersection_area == 0.0) return 0.0; - const double target_area = boost::geometry::area(target_polygon); + if (intersection_area < MIN_AREA) return 0.0; return std::min(1.0, intersection_area / target_area); } From 0bd9a99bbea00d4f95c281bbd8846ad66e6bb988 Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Tue, 2 Apr 2024 15:27:51 +0300 Subject: [PATCH 13/29] fix(predicted_path_checker): check if trajectory size (#6730) check trajectory size Signed-off-by: beyza Co-authored-by: beyza --- .../predicted_path_checker_node.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp index 0cf2548d69746..bba069442bee7 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp @@ -537,6 +537,10 @@ void PredictedPathCheckerNode::filterObstacles( const Pose & ego_pose, const TrajectoryPoints & traj, const double dist_threshold, const bool use_prediction, PredictedObjects & filtered_objects) { + if (traj.size() < 2) { + RCLCPP_ERROR(rclcpp::get_logger("predicted_path_checker"), "Trajectory size is less than 2."); + return; + } filtered_objects.header.frame_id = object_ptr_.get()->header.frame_id; filtered_objects.header.stamp = this->now(); From faf4abd049fe8d53494f5396941e885ea669163e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 3 Apr 2024 00:57:07 +0900 Subject: [PATCH 14/29] fix(static_centerline_optimizer): fix latlon values of generated LL2 map (#6727) * fix(static_centerline_optimizer): fix lat/lon value of generated LL2 map Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../static_centerline_optimizer_node.hpp | 3 +++ planning/static_centerline_optimizer/package.xml | 2 ++ .../src/static_centerline_optimizer_node.cpp | 11 ++++++++--- 3 files changed, 13 insertions(+), 3 deletions(-) diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp index f25a6771aa0cb..3e6aafd3a9954 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp @@ -22,6 +22,8 @@ #include "static_centerline_optimizer/type_alias.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" +#include + #include "std_msgs/msg/bool.hpp" #include "std_msgs/msg/int32.hpp" @@ -69,6 +71,7 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node lanelet::LaneletMapPtr original_map_ptr_{nullptr}; HADMapBin::ConstSharedPtr map_bin_ptr_{nullptr}; std::shared_ptr route_handler_ptr_{nullptr}; + std::unique_ptr map_projector_{nullptr}; int traj_start_index_{0}; int traj_end_index_{0}; diff --git a/planning/static_centerline_optimizer/package.xml b/planning/static_centerline_optimizer/package.xml index 363c88bebf0ea..eef133581622f 100644 --- a/planning/static_centerline_optimizer/package.xml +++ b/planning/static_centerline_optimizer/package.xml @@ -19,11 +19,13 @@ autoware_auto_perception_msgs autoware_auto_planning_msgs behavior_path_planner_common + geography_utils geometry_msgs global_parameter_loader interpolation lanelet2_extension map_loader + map_projection_loader mission_planner motion_utils obstacle_avoidance_planner diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp index 844352f577432..ea7e1c302fd68 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp @@ -18,6 +18,7 @@ #include "lanelet2_extension/utility/query.hpp" #include "lanelet2_extension/utility/utilities.hpp" #include "map_loader/lanelet2_map_loader_node.hpp" +#include "map_projection_loader/load_info_from_lanelet2_map.hpp" #include "motion_utils/resample/resample.hpp" #include "motion_utils/trajectory/conversion.hpp" #include "obstacle_avoidance_planner/node.hpp" @@ -28,6 +29,7 @@ #include "tier4_autoware_utils/geometry/geometry.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" +#include #include #include #include @@ -331,14 +333,17 @@ void StaticCenterlineOptimizerNode::load_map(const std::string & lanelet2_input_ // load map by the map_loader package map_bin_ptr_ = [&]() -> HADMapBin::ConstSharedPtr { // load map - tier4_map_msgs::msg::MapProjectorInfo map_projector_info; - map_projector_info.projector_type = tier4_map_msgs::msg::MapProjectorInfo::MGRS; + const auto map_projector_info = load_info_from_lanelet2_map(lanelet2_input_file_path); const auto map_ptr = Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, map_projector_info); if (!map_ptr) { return nullptr; } + // NOTE: generate map projector for lanelet::write(). + // Without this, lat/lon of the generated LL2 map will be wrong. + map_projector_ = geography_utils::get_lanelet2_projector(map_projector_info); + // NOTE: The original map is stored here since the various ids in the lanelet map will change // after lanelet::utils::overwriteLaneletCenterline, and saving map will fail. original_map_ptr_ = @@ -750,7 +755,7 @@ void StaticCenterlineOptimizerNode::save_map( RCLCPP_INFO(get_logger(), "Updated centerline in map."); // save map with modified center line - lanelet::write(lanelet2_output_file_path, *original_map_ptr_); + lanelet::write(lanelet2_output_file_path, *original_map_ptr_, *map_projector_); RCLCPP_INFO(get_logger(), "Saved map."); } } // namespace static_centerline_optimizer From 5d14585cc28bc9eb01c300c30e250b79942e3b60 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 3 Apr 2024 11:46:54 +0900 Subject: [PATCH 15/29] fix(lane_change): check prepare phase in intersection (#6561) * fix(lane_change): check prepare phase in intersection Signed-off-by: Muhammad Zulfaqar Azmi * Add new parameter, also create function Signed-off-by: Muhammad Zulfaqar Azmi * Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi * fix spell check * fix config file Signed-off-by: Zulfaqar Azmi * call the function check_prepare_phase only once Signed-off-by: Muhammad Zulfaqar Azmi * add parameter description in README Signed-off-by: Muhammad Zulfaqar Azmi * minor refactoring Signed-off-by: Muhammad Zulfaqar Azmi * Doxygen description Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Zulfaqar Azmi --- .../README.md | 15 ++++--- .../config/lane_change.param.yaml | 4 +- .../scene.hpp | 2 + .../utils/data_structs.hpp | 3 +- .../utils/utils.hpp | 39 ++++++++++++++++- .../src/manager.cpp | 6 ++- .../src/scene.cpp | 43 ++++++++++++++++--- .../src/utils/utils.cpp | 35 +++++++++++++-- 8 files changed, 127 insertions(+), 20 deletions(-) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 874d542b445d3..17cdc58f5ad47 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -551,13 +551,14 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi #### Additional parameters -| Name | Unit | Type | Description | Default value | -| :----------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | false | -| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | -| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | -| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | -| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `enable_collision_check_for_prepare_phase.general_lanes` | [-] | boolean | Perform collision check starting from the prepare phase for situations not explicitly covered by other settings (e.g., intersections). If `false`, collision check only evaluated for lane changing phase. | false | +| `enable_collision_check_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | false | +| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | +| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | +| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | +| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | #### safety constraints during lane change path is computed diff --git a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml index 74c6ad0893b23..039e8a31ed10f 100644 --- a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml @@ -89,7 +89,9 @@ stop_time: 3.0 # [s] # collision check - enable_prepare_segment_collision_check: true + enable_collision_check_for_prepare_phase: + general_lanes: false + intersection: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: true check_objects_on_other_lanes: true diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp index 3b8d2ad6e9931..0eec0ce75f622 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp @@ -174,6 +174,8 @@ class NormalLaneChange : public LaneChangeBase bool isVehicleStuck(const lanelet::ConstLanelets & current_lanes) const; + bool check_prepare_phase() const; + double calcMaximumLaneChangeLength( const lanelet::ConstLanelet & current_terminal_lanelet, const double max_acc) const; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp index e48f687a89035..0d77135fda242 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp @@ -112,7 +112,8 @@ struct LaneChangeParameters double max_longitudinal_acc{1.0}; // collision check - bool enable_prepare_segment_collision_check{true}; + bool enable_collision_check_for_prepare_phase_in_general_lanes{false}; + bool enable_collision_check_for_prepare_phase_in_intersection{true}; double prepare_segment_ignore_object_velocity_thresh{0.1}; bool check_objects_on_current_lanes{true}; bool check_objects_on_other_lanes{true}; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp index 35cc02e867557..ff5d7bc0773fa 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp @@ -23,6 +23,7 @@ #include "rclcpp/logger.hpp" #include +#include #include #include @@ -31,6 +32,7 @@ #include +#include #include #include @@ -185,7 +187,7 @@ std::optional createPolygon( ExtendedPredictedObject transform( const PredictedObject & object, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters); + const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase); bool isCollidedPolygonsInLanelet( const std::vector & collided_polygons, const lanelet::ConstLanelets & lanes); @@ -220,6 +222,41 @@ lanelet::ConstLanelets generateExpandedLanelets( * @return rclcpp::Logger The logger instance configured for the specified lane change type. */ rclcpp::Logger getLogger(const std::string & type); + +/** + * @brief Computes the current footprint of the ego vehicle based on its pose and size. + * + * This function calculates the 2D polygon representing the current footprint of the ego vehicle. + * The footprint is determined by the vehicle's pose and its dimensions, including the distance + * from the base to the front and rear ends of the vehicle, as well as its width. + * + * @param ego_pose The current pose of the ego vehicle. + * @param ego_info The structural information of the ego vehicle, such as its maximum longitudinal + * offset, rear overhang, and width. + * + * @return Polygon2d A polygon representing the current 2D footprint of the ego vehicle. + */ +Polygon2d getEgoCurrentFootprint( + const Pose & ego_pose, const vehicle_info_util::VehicleInfo & ego_info); + +/** + * @brief Checks if the given polygon is within an intersection area. + * + * This function evaluates whether a specified polygon is located within the bounds of an + * intersection. It identifies the intersection area by checking the attributes of the provided + * lanelet. If the lanelet has an attribute indicating it is part of an intersection, the function + * then checks if the polygon is fully contained within this area. + * + * @param route_handler a shared pointer to the route_handler + * @param lanelet A lanelet to check against the + * intersection area. + * @param polygon The polygon to check for containment within the intersection area. + * + * @return bool True if the polygon is within the intersection area, false otherwise. + */ +bool isWithinIntersection( + const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, + const Polygon2d & polygon); } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug diff --git a/planning/behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_lane_change_module/src/manager.cpp index 9f1c3c13bfadc..7045544df50aa 100644 --- a/planning/behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_lane_change_module/src/manager.cpp @@ -68,8 +68,10 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) p.max_longitudinal_acc = getOrDeclareParameter(*node, parameter("max_longitudinal_acc")); // collision check - p.enable_prepare_segment_collision_check = - getOrDeclareParameter(*node, parameter("enable_prepare_segment_collision_check")); + p.enable_collision_check_for_prepare_phase_in_general_lanes = getOrDeclareParameter( + *node, parameter("enable_collision_check_for_prepare_phase.general_lanes")); + p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter( + *node, parameter("enable_collision_check_for_prepare_phase.intersection")); p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter( *node, parameter("prepare_segment_ignore_object_velocity_thresh")); p.check_objects_on_current_lanes = diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index 08034d43feb43..a6d21aede64b6 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -889,23 +889,27 @@ LaneChangeTargetObjects NormalLaneChange::getTargetObjects( target_objects.other_lane.reserve(target_obj_index.other_lane.size()); // objects in current lane + const auto is_check_prepare_phase = check_prepare_phase(); for (const auto & obj_idx : target_obj_index.current_lane) { const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_); + objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, + is_check_prepare_phase); target_objects.current_lane.push_back(extended_object); } // objects in target lane for (const auto & obj_idx : target_obj_index.target_lane) { const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_); + objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, + is_check_prepare_phase); target_objects.target_lane.push_back(extended_object); } // objects in other lane for (const auto & obj_idx : target_obj_index.other_lane) { const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_); + objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, + is_check_prepare_phase); target_objects.other_lane.push_back(extended_object); } @@ -969,8 +973,8 @@ LaneChangeTargetObjectIndices NormalLaneChange::filterObject( const auto obj_velocity_norm = std::hypot( object.kinematics.initial_twist_with_covariance.twist.linear.x, object.kinematics.initial_twist_with_covariance.twist.linear.y); - const auto extended_object = - utils::lane_change::transform(object, common_parameters, *lane_change_parameters_); + const auto extended_object = utils::lane_change::transform( + object, common_parameters, *lane_change_parameters_, check_prepare_phase()); const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object); @@ -2113,4 +2117,33 @@ void NormalLaneChange::updateStopTime() stop_watch_.tic("stop_time"); } +bool NormalLaneChange::check_prepare_phase() const +{ + const auto & route_handler = getRouteHandler(); + const auto & vehicle_info = getCommonParam().vehicle_info; + + const auto check_in_general_lanes = + lane_change_parameters_->enable_collision_check_for_prepare_phase_in_general_lanes; + + lanelet::ConstLanelet current_lane; + if (!route_handler->getClosestLaneletWithinRoute(getEgoPose(), ¤t_lane)) { + RCLCPP_DEBUG( + logger_, "Unable to get current lane. Default to %s.", + (check_in_general_lanes ? "true" : "false")); + return check_in_general_lanes; + } + + const auto ego_footprint = utils::lane_change::getEgoCurrentFootprint(getEgoPose(), vehicle_info); + + const auto check_in_intersection = std::invoke([&]() { + if (!lane_change_parameters_->enable_collision_check_for_prepare_phase_in_intersection) { + return false; + } + + return utils::lane_change::isWithinIntersection(route_handler, current_lane, ego_footprint); + }); + + return check_in_intersection || check_in_general_lanes; +} + } // namespace behavior_path_planner diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index bae733610905b..f112ab103b167 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -31,7 +31,11 @@ #include #include #include +#include #include +#include + +#include #include #include @@ -1086,7 +1090,7 @@ std::optional createPolygon( ExtendedPredictedObject transform( const PredictedObject & object, [[maybe_unused]] const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters) + const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase) { ExtendedPredictedObject extended_object; extended_object.uuid = object.object_id; @@ -1096,8 +1100,6 @@ ExtendedPredictedObject transform( extended_object.shape = object.shape; const auto & time_resolution = lane_change_parameters.prediction_time_resolution; - const auto & check_at_prepare_phase = - lane_change_parameters.enable_prepare_segment_collision_check; const auto & prepare_duration = lane_change_parameters.lane_change_prepare_duration; const auto & velocity_threshold = lane_change_parameters.prepare_segment_ignore_object_velocity_thresh; @@ -1155,6 +1157,32 @@ rclcpp::Logger getLogger(const std::string & type) { return rclcpp::get_logger("lane_change").get_child(type); } + +Polygon2d getEgoCurrentFootprint( + const Pose & ego_pose, const vehicle_info_util::VehicleInfo & ego_info) +{ + const auto base_to_front = ego_info.max_longitudinal_offset_m; + const auto base_to_rear = ego_info.rear_overhang_m; + const auto width = ego_info.vehicle_width_m; + + return tier4_autoware_utils::toFootprint(ego_pose, base_to_front, base_to_rear, width); +} + +bool isWithinIntersection( + const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, + const Polygon2d & polygon) +{ + const std::string id = lanelet.attributeOr("intersection_area", "else"); + if (id == "else") { + return false; + } + + const auto lanelet_polygon = + route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + + return boost::geometry::within( + polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); +} } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug @@ -1194,4 +1222,5 @@ geometry_msgs::msg::Polygon createExecutionArea( return polygon; } + } // namespace behavior_path_planner::utils::lane_change::debug From 16c4713c9276c63d38b0d9e8cab2981b35af17d2 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 3 Apr 2024 12:33:41 +0900 Subject: [PATCH 16/29] fix(lane_change): fix terminal path not working in some case (#6722) Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_lane_change_module/src/utils/utils.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index f112ab103b167..0b4893f94e071 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -439,7 +439,8 @@ PathWithLaneId getReferencePathFromTargetLane( .get_child("getReferencePathFromTargetLane"), "start: %f, end: %f", s_start, s_end); - if (s_end - s_start < lane_changing_length) { + constexpr double epsilon = 1e-4; + if (s_end - s_start + epsilon < lane_changing_length) { return PathWithLaneId(); } From 0d0069d81684aafc025bccd480e7d98b1ddca85b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 3 Apr 2024 13:06:05 +0900 Subject: [PATCH 17/29] chore(goal_planner): delete unnecessary comments (#6729) chore(goal_planner): delete comments Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 28 ------------------- 1 file changed, 28 deletions(-) diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index 7310e93dda4bb..a890cfc21ed13 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1640,34 +1640,6 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() ignore_signal_ = update_ignore_signal(closest_lanelet.id(), is_ignore); return new_signal; - // // calc TurnIndicatorsCommand - // { - // const double distance_to_end = - // calcSignedArcLength(full_path.points, current_pose.position, end_pose.position); - // const bool is_before_end_pose = distance_to_end >= 0.0; - // if (is_before_end_pose) { - // if (left_side_parking_) { - // turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT; - // } else { - // turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT; - // } - // } else { - // turn_signal.turn_signal.command = TurnIndicatorsCommand::NO_COMMAND; - // } - // } - - // // calc desired/required start/end point - // { - // // ego decelerates so that current pose is the point `turn_light_on_threshold_time` seconds - // // before starting pull_over - // turn_signal.desired_start_point = - // last_approval_data_ && hasDecidedPath() ? last_approval_data_->pose : current_pose; - // turn_signal.desired_end_point = end_pose; - // turn_signal.required_start_point = start_pose; - // turn_signal.required_end_point = end_pose; - // } - - // return turn_signal; } bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const From fcf05297fd4c4a4a02d65f3d3233684cd3ae781c Mon Sep 17 00:00:00 2001 From: cyn-liu <104069308+cyn-liu@users.noreply.github.com> Date: Wed, 3 Apr 2024 15:44:15 +0800 Subject: [PATCH 18/29] feat(global_parameter_loader): add gtest to global parameter loader (#5021) * add remote * feat(global_parameter_loader): add gtest of global-parameter-loader Signed-off-by: Cynthia Liu * style(pre-commit): autofix --------- Signed-off-by: Cynthia Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- build_depends.repos | 5 +++ common/global_parameter_loader/CMakeLists.txt | 5 +++ common/global_parameter_loader/package.xml | 4 +- .../test/test_global_params_launch.cpp | 44 +++++++++++++++++++ 4 files changed, 57 insertions(+), 1 deletion(-) create mode 100644 common/global_parameter_loader/test/test_global_params_launch.cpp diff --git a/build_depends.repos b/build_depends.repos index f7b3f12484015..5a12a67dbd346 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -41,3 +41,8 @@ repositories: type: git url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git version: main + #vehicle + vehicle/sample_vehicle_launch: + type: git + url: https://github.com/autowarefoundation/sample_vehicle_launch.git + version: main diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/global_parameter_loader/CMakeLists.txt index e67ae1a5c06fc..eaca44c515452 100644 --- a/common/global_parameter_loader/CMakeLists.txt +++ b/common/global_parameter_loader/CMakeLists.txt @@ -4,6 +4,11 @@ project(global_parameter_loader) find_package(autoware_cmake REQUIRED) autoware_package() +if(BUILD_TESTING) + file(GLOB_RECURSE test_files test/*.cpp) + ament_add_ros_isolated_gtest(test_global_params_launch ${test_files}) +endif() + ament_auto_package( INSTALL_TO_SHARE launch diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml index 4c2568b9aec98..78d08e4038250 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/global_parameter_loader/package.xml @@ -10,8 +10,10 @@ ament_cmake_auto autoware_cmake - vehicle_info_util + sample_vehicle_description + vehicle_info_util + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/global_parameter_loader/test/test_global_params_launch.cpp b/common/global_parameter_loader/test/test_global_params_launch.cpp new file mode 100644 index 0000000000000..2b33a695253ff --- /dev/null +++ b/common/global_parameter_loader/test/test_global_params_launch.cpp @@ -0,0 +1,44 @@ +// Copyright 2023 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include + +TEST(TestLaunchFile, test_launch_file) +{ + // Define the path of Python launch file + std::string global_params_launch_path = "global_params.launch.py"; + + // Define the parameters you want to pass to the launch file + std::string use_sim_time_param = "false"; + std::string vehicle_model_param = "sample_vehicle"; + // Construct the command to run the Python launch script with parameters + std::string command = "ros2 launch global_parameter_loader " + global_params_launch_path + + " use_sim_time:=" + use_sim_time_param + + " vehicle_model:=" + vehicle_model_param; + + // Use the system() function to execute the command + int result = std::system(command.c_str()); + // Check the result of running the launch file + EXPECT_EQ(result, 0); +} + +int main(int argc, char * argv[]) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} From 45f77be092f2c17692e1cfeabce33619f6327cb8 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Wed, 3 Apr 2024 13:38:14 +0300 Subject: [PATCH 19/29] feat(time_synchronizer_nodelet): set input_offsets zero if it was not defined (#6664) Signed-off-by: Berkay Karaman --- .../src/time_synchronizer/time_synchronizer_nodelet.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp index 7aae6c937f4a9..12b034043894e 100644 --- a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp @@ -83,7 +83,12 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( timeout_sec_ = static_cast(declare_parameter("timeout_sec", 0.1)); input_offset_ = declare_parameter("input_offset", std::vector{}); - if (!input_offset_.empty() && input_topics_.size() != input_offset_.size()) { + + // If input_offset_ is not defined, set all offsets to 0 + if (input_offset_.empty()) { + input_offset_.resize(input_topics_.size(), 0.0); + RCLCPP_INFO(get_logger(), "Input offset is not defined. Set all offsets to 0.0."); + } else if (input_topics_.size() != input_offset_.size()) { RCLCPP_ERROR(get_logger(), "The number of topics does not match the number of offsets."); return; } From 21c4eb00989e1a85b40434a83b48ee240f7c875a Mon Sep 17 00:00:00 2001 From: oguzkaganozt Date: Wed, 3 Apr 2024 14:14:29 +0300 Subject: [PATCH 20/29] refactor(object_range_splitter): rework parameters (#6705) * rework parameters Signed-off-by: oguzkaganozt * . Signed-off-by: oguzkaganozt * . Signed-off-by: oguzkaganozt * style(pre-commit): autofix --------- Signed-off-by: oguzkaganozt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/object_range_splitter/README.md | 4 +-- .../schema/object_range_splitter.schema.json | 33 +++++++++++++++++++ 2 files changed, 34 insertions(+), 3 deletions(-) create mode 100644 perception/object_range_splitter/schema/object_range_splitter.schema.json diff --git a/perception/object_range_splitter/README.md b/perception/object_range_splitter/README.md index 89d266a666219..19c571962c0dc 100644 --- a/perception/object_range_splitter/README.md +++ b/perception/object_range_splitter/README.md @@ -43,9 +43,7 @@ Example: ## Parameters -| Name | Type | Description | -| ------------- | ----- | ---------------------------------------------------- | -| `split_range` | float | the distance boundary to divide detected objects [m] | +{{ json_to_markdown("perception/object_range_splitter/schema/object_range_splitter.schema.json") }} ## Assumptions / Known limits diff --git a/perception/object_range_splitter/schema/object_range_splitter.schema.json b/perception/object_range_splitter/schema/object_range_splitter.schema.json new file mode 100644 index 0000000000000..ed5ba3a96c18b --- /dev/null +++ b/perception/object_range_splitter/schema/object_range_splitter.schema.json @@ -0,0 +1,33 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for object_range_splitter", + "type": "object", + "definitions": { + "object_range_splitter": { + "type": "object", + "properties": { + "split_range": { + "type": "number", + "description": "object_range_splitter is a package to divide detected objects into two messages by the distance from the origin", + "default": "30.0" + } + }, + "required": ["split_range"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/object_range_splitter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From 951b90231597a745be855145a2d61a64b1ef7145 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 3 Apr 2024 21:00:30 +0900 Subject: [PATCH 21/29] feat(tier4_autoware_utils, obstacle_cruise): change to read topic by polling (#6702) change to read topic by polling Signed-off-by: Yuki Takagi --- .../ros/polling_subscriber.hpp | 65 +++++++++++++++++++ .../include/obstacle_cruise_planner/node.hpp | 15 ++--- planning/obstacle_cruise_planner/src/node.cpp | 45 ++++++------- 3 files changed, 93 insertions(+), 32 deletions(-) create mode 100644 common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp new file mode 100644 index 0000000000000..f4d230e15dcf1 --- /dev/null +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp @@ -0,0 +1,65 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ +#define TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ + +#include + +#include + +namespace tier4_autoware_utils +{ + +template +class InterProcessPollingSubscriber +{ +private: + typename rclcpp::Subscription::SharedPtr subscriber_; + std::optional data_; + +public: + explicit InterProcessPollingSubscriber(rclcpp::Node * node, const std::string & topic_name) + { + auto noexec_callback_group = + node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); + auto noexec_subscription_options = rclcpp::SubscriptionOptions(); + noexec_subscription_options.callback_group = noexec_callback_group; + + subscriber_ = node->create_subscription( + topic_name, rclcpp::QoS{1}, [node](const typename T::ConstSharedPtr msg) { assert(false); }, + noexec_subscription_options); + }; + bool updateLatestData() + { + rclcpp::MessageInfo message_info; + T tmp; + // The queue size (QoS) must be 1 to get the last message data. + if (subscriber_->take(tmp, message_info)) { + data_ = tmp; + } + return data_.has_value(); + }; + const T & getData() const + { + if (!data_.has_value()) { + throw std::runtime_error("Bad_optional_access in class InterProcessPollingSubscriber"); + } + return data_.value(); + }; +}; + +} // namespace tier4_autoware_utils + +#endif // TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp index d1a9d0ff56b52..c368265ea0f66 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp @@ -21,6 +21,7 @@ #include "obstacle_cruise_planner/type_alias.hpp" #include "signal_processing/lowpass_filter_1d.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/ros/polling_subscriber.hpp" #include "tier4_autoware_utils/system/stop_watch.hpp" #include @@ -138,14 +139,12 @@ class ObstacleCruisePlannerNode : public rclcpp::Node // subscriber rclcpp::Subscription::SharedPtr traj_sub_; - rclcpp::Subscription::SharedPtr objects_sub_; - rclcpp::Subscription::SharedPtr odom_sub_; - rclcpp::Subscription::SharedPtr acc_sub_; - - // data for callback functions - PredictedObjects::ConstSharedPtr objects_ptr_{nullptr}; - Odometry::ConstSharedPtr ego_odom_ptr_{nullptr}; - AccelWithCovarianceStamped::ConstSharedPtr ego_accel_ptr_{nullptr}; + tier4_autoware_utils::InterProcessPollingSubscriber ego_odom_sub_{ + this, "~/input/odometry"}; + tier4_autoware_utils::InterProcessPollingSubscriber objects_sub_{ + this, "~/input/objects"}; + tier4_autoware_utils::InterProcessPollingSubscriber acc_sub_{ + this, "~/input/acceleration"}; // Vehicle Parameters VehicleInfo vehicle_info_; diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index 2d1b70d1745f9..a069b4b6f9395 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -357,15 +357,6 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & traj_sub_ = create_subscription( "~/input/trajectory", rclcpp::QoS{1}, std::bind(&ObstacleCruisePlannerNode::onTrajectory, this, _1)); - objects_sub_ = create_subscription( - "~/input/objects", rclcpp::QoS{1}, - [this](const PredictedObjects::ConstSharedPtr msg) { objects_ptr_ = msg; }); - odom_sub_ = create_subscription( - "~/input/odometry", rclcpp::QoS{1}, - [this](const Odometry::ConstSharedPtr msg) { ego_odom_ptr_ = msg; }); - acc_sub_ = create_subscription( - "~/input/acceleration", rclcpp::QoS{1}, - [this](const AccelWithCovarianceStamped::ConstSharedPtr msg) { ego_accel_ptr_ = msg; }); // publisher trajectory_pub_ = create_publisher("~/output/trajectory", 1); @@ -493,10 +484,15 @@ rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam( void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr msg) { - const auto traj_points = motion_utils::convertToTrajectoryPointArray(*msg); + if ( + !ego_odom_sub_.updateLatestData() || !objects_sub_.updateLatestData() || + !acc_sub_.updateLatestData()) { + return; + } + const auto traj_points = motion_utils::convertToTrajectoryPointArray(*msg); // check if subscribed variables are ready - if (traj_points.empty() || !ego_odom_ptr_ || !ego_accel_ptr_ || !objects_ptr_) { + if (traj_points.empty()) { return; } @@ -609,11 +605,11 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( { stop_watch_.tic(__func__); - const auto obj_stamp = rclcpp::Time(objects_ptr_->header.stamp); + const auto obj_stamp = rclcpp::Time(objects_sub_.getData().header.stamp); const auto & p = behavior_determination_param_; std::vector target_obstacles; - for (const auto & predicted_object : objects_ptr_->objects) { + for (const auto & predicted_object : objects_sub_.getData().objects) { const auto & object_id = tier4_autoware_utils::toHexString(predicted_object.object_id).substr(0, 4); const auto & current_obstacle_pose = @@ -631,7 +627,8 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( } // 2. Check if the obstacle is in front of the ego. - const size_t ego_idx = ego_nearest_param_.findIndex(traj_points, ego_odom_ptr_->pose.pose); + const size_t ego_idx = + ego_nearest_param_.findIndex(traj_points, ego_odom_sub_.getData().pose.pose); const auto ego_to_obstacle_distance = calcDistanceToFrontVehicle(traj_points, ego_idx, current_obstacle_pose.pose.position); if (!ego_to_obstacle_distance) { @@ -727,7 +724,7 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( // calculated decimated trajectory points and trajectory polygon const auto decimated_traj_points = decimateTrajectoryPoints(traj_points); const auto decimated_traj_polys = - createOneStepPolygons(decimated_traj_points, vehicle_info_, ego_odom_ptr_->pose.pose); + createOneStepPolygons(decimated_traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose); debug_data_ptr_->detection_polygons = decimated_traj_polys; // determine ego's behavior from stop, cruise and slow down @@ -785,7 +782,7 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( slow_down_condition_counter_.removeCounterUnlessUpdated(); // Check target obstacles' consistency - checkConsistency(objects_ptr_->header.stamp, *objects_ptr_, stop_obstacles); + checkConsistency(objects_sub_.getData().header.stamp, objects_sub_.getData(), stop_obstacles); // update previous obstacles prev_stop_obstacles_ = stop_obstacles; @@ -807,7 +804,7 @@ std::vector ObstacleCruisePlannerNode::decimateTrajectoryPoints // trim trajectory const size_t ego_seg_idx = - ego_nearest_param_.findSegmentIndex(traj_points, ego_odom_ptr_->pose.pose); + ego_nearest_param_.findSegmentIndex(traj_points, ego_odom_sub_.getData().pose.pose); const size_t traj_start_point_idx = ego_seg_idx; const auto trimmed_traj_points = std::vector(traj_points.begin() + traj_start_point_idx, traj_points.end()); @@ -1191,7 +1188,7 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( // calculate collision points with trajectory with lateral stop margin const auto traj_polys_with_lat_margin = createOneStepPolygons( - traj_points, vehicle_info_, ego_odom_ptr_->pose.pose, p.max_lat_margin_for_stop); + traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose, p.max_lat_margin_for_stop); const auto collision_point = polygon_utils::getCollisionPoint( traj_points, traj_polys_with_lat_margin, obstacle, is_driving_forward_, vehicle_info_); @@ -1261,7 +1258,7 @@ std::optional ObstacleCruisePlannerNode::createSlowDownObstacl // calculate collision points with trajectory with lateral stop margin // NOTE: For additional margin, hysteresis is not divided by two. const auto traj_polys_with_lat_margin = createOneStepPolygons( - traj_points, vehicle_info_, ego_odom_ptr_->pose.pose, + traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose, p.max_lat_margin_for_slow_down + p.lat_hysteresis_margin_for_slow_down); std::vector front_collision_polygons; @@ -1424,8 +1421,8 @@ double ObstacleCruisePlannerNode::calcCollisionTimeMargin( const std::vector & collision_points, const std::vector & traj_points, const bool is_driving_forward) const { - const auto & ego_pose = ego_odom_ptr_->pose.pose; - const double ego_vel = ego_odom_ptr_->twist.twist.linear.x; + const auto & ego_pose = ego_odom_sub_.getData().pose.pose; + const double ego_vel = ego_odom_sub_.getData().twist.twist.linear.x; const double time_to_reach_collision_point = [&]() { const double abs_ego_offset = is_driving_forward @@ -1457,9 +1454,9 @@ PlannerData ObstacleCruisePlannerNode::createPlannerData( PlannerData planner_data; planner_data.current_time = now(); planner_data.traj_points = traj_points; - planner_data.ego_pose = ego_odom_ptr_->pose.pose; - planner_data.ego_vel = ego_odom_ptr_->twist.twist.linear.x; - planner_data.ego_acc = ego_accel_ptr_->accel.accel.linear.x; + planner_data.ego_pose = ego_odom_sub_.getData().pose.pose; + planner_data.ego_vel = ego_odom_sub_.getData().twist.twist.linear.x; + planner_data.ego_acc = acc_sub_.getData().accel.accel.linear.x; planner_data.is_driving_forward = is_driving_forward_; return planner_data; } From 47e7215c1d9dabd51a0ddd3a9ed5069b834d5e5d Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 4 Apr 2024 11:36:28 +0900 Subject: [PATCH 22/29] docs(perception_online_evaluator): add description about yaw rate evaluation (#6737) Signed-off-by: kyoichi-sugahara --- evaluator/perception_online_evaluator/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/evaluator/perception_online_evaluator/README.md b/evaluator/perception_online_evaluator/README.md index c0e2a516cf948..7c2179239221e 100644 --- a/evaluator/perception_online_evaluator/README.md +++ b/evaluator/perception_online_evaluator/README.md @@ -11,6 +11,7 @@ This module allows for the evaluation of how accurately perception results are g - Calculates lateral deviation between the predicted path and the actual traveled trajectory. - Calculates lateral deviation between the smoothed traveled trajectory and the perceived position to evaluate the stability of lateral position recognition. - Calculates yaw deviation between the smoothed traveled trajectory and the perceived position to evaluate the stability of yaw recognition. +- Calculates yaw rate based on the yaw of the object received in the previous cycle to evaluate the stability of the yaw rate recognition. ## Inputs / Outputs From c4546e20a39b16007370ce46d20ccda2c4eee2ae Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 4 Apr 2024 16:13:42 +0900 Subject: [PATCH 23/29] fix(hazard_status_converter): check current operation mode (#6733) * fix: hazard status converter Signed-off-by: Takagi, Isamu * fix: topic name and modes Signed-off-by: Takagi, Isamu * fix check target mode Signed-off-by: Takagi, Isamu * fix message type Signed-off-by: Takagi, Isamu * Revert "fix check target mode" This reverts commit 8b190b7b99490503a52b155cad9f593c1c97e553. --------- Signed-off-by: Takagi, Isamu --- system/hazard_status_converter/package.xml | 1 + .../hazard_status_converter/src/converter.cpp | 73 +++++++++++++++---- .../hazard_status_converter/src/converter.hpp | 11 +++ 3 files changed, 69 insertions(+), 16 deletions(-) diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index 9ae7a384927b9..082aa85cba97a 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -10,6 +10,7 @@ ament_cmake_auto autoware_cmake + autoware_adapi_v1_msgs autoware_auto_system_msgs diagnostic_msgs rclcpp diff --git a/system/hazard_status_converter/src/converter.cpp b/system/hazard_status_converter/src/converter.cpp index e1da4f463f06d..58282306491dd 100644 --- a/system/hazard_status_converter/src/converter.cpp +++ b/system/hazard_status_converter/src/converter.cpp @@ -32,10 +32,10 @@ enum class HazardLevel { NF, SF, LF, SPF }; struct TempNode { const DiagnosticNode & node; - bool is_auto_tree; + bool is_root_tree; }; -HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel auto_mode_level) +HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel root_mode_level) { // Convert the level according to the table below. // The Level other than auto mode is considered OK. @@ -49,7 +49,7 @@ HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel auto_mode_le // | STALE | SF | LF | SPF | SPF | // |-------|-------------------------------| - const auto root_level = node.is_auto_tree ? auto_mode_level : DiagnosticStatus::OK; + const auto root_level = node.is_root_tree ? root_mode_level : DiagnosticStatus::OK; const auto node_level = node.node.status.level; if (node_level == DiagnosticStatus::OK) { @@ -67,20 +67,21 @@ HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel auto_mode_le return HazardLevel::SPF; } -void set_auto_tree(std::vector & nodes, int index) +void set_root_tree(std::vector & nodes, int index) { TempNode & node = nodes[index]; - if (node.is_auto_tree) { + if (node.is_root_tree) { return; } - node.is_auto_tree = true; + node.is_root_tree = true; for (const auto & link : node.node.links) { - set_auto_tree(nodes, link.index); + set_root_tree(nodes, link.index); } } -HazardStatusStamped convert_hazard_diagnostics(const DiagnosticGraph & graph) +HazardStatusStamped convert_hazard_diagnostics( + const DiagnosticGraph & graph, const std::string & root, bool ignore) { // Create temporary tree for conversion. std::vector nodes; @@ -90,19 +91,21 @@ HazardStatusStamped convert_hazard_diagnostics(const DiagnosticGraph & graph) } // Mark nodes included in the auto mode tree. - DiagnosticLevel auto_mode_level = DiagnosticStatus::STALE; - for (size_t index = 0; index < nodes.size(); ++index) { - const auto & status = nodes[index].node.status; - if (status.name == "/autoware/modes/autonomous") { - set_auto_tree(nodes, index); - auto_mode_level = status.level; + DiagnosticLevel root_mode_level = DiagnosticStatus::STALE; + if (!root.empty() && !ignore) { + for (size_t index = 0; index < nodes.size(); ++index) { + const auto & status = nodes[index].node.status; + if (status.name == root) { + set_root_tree(nodes, index); + root_mode_level = status.level; + } } } // Calculate hazard level from node level and root level. HazardStatusStamped hazard; for (const auto & node : nodes) { - switch (get_hazard_level(node, auto_mode_level)) { + switch (get_hazard_level(node, root_mode_level)) { case HazardLevel::NF: hazard.status.diag_no_fault.push_back(node.node.status); break; @@ -131,6 +134,22 @@ Converter::Converter(const rclcpp::NodeOptions & options) : Node("converter", op sub_graph_ = create_subscription( "~/diagnostics_graph", rclcpp::QoS(3), std::bind(&Converter::on_graph, this, std::placeholders::_1)); + sub_state_ = create_subscription( + "/autoware/state", rclcpp::QoS(1), + std::bind(&Converter::on_state, this, std::placeholders::_1)); + sub_mode_ = create_subscription( + "/system/operation_mode/state", rclcpp::QoS(1).transient_local(), + std::bind(&Converter::on_mode, this, std::placeholders::_1)); +} + +void Converter::on_state(const AutowareState::ConstSharedPtr msg) +{ + state_ = msg; +} + +void Converter::on_mode(const OperationMode::ConstSharedPtr msg) +{ + mode_ = msg; } void Converter::on_graph(const DiagnosticGraph::ConstSharedPtr msg) @@ -148,7 +167,29 @@ void Converter::on_graph(const DiagnosticGraph::ConstSharedPtr msg) return HazardStatus::NO_FAULT; }; - HazardStatusStamped hazard = convert_hazard_diagnostics(*msg); + const auto is_ignore = [this]() { + if (mode_ && state_) { + if (mode_->mode == OperationMode::AUTONOMOUS || mode_->mode == OperationMode::STOP) { + if (state_->state == AutowareState::WAITING_FOR_ROUTE) return true; + if (state_->state == AutowareState::PLANNING) return true; + } + if (state_->state == AutowareState::INITIALIZING) return true; + if (state_->state == AutowareState::FINALIZING) return true; + } + return false; + }; + + const auto get_root = [this]() { + if (mode_) { + if (mode_->mode == OperationMode::STOP) return "/autoware/modes/stop"; + if (mode_->mode == OperationMode::AUTONOMOUS) return "/autoware/modes/autonomous"; + if (mode_->mode == OperationMode::LOCAL) return "/autoware/modes/local"; + if (mode_->mode == OperationMode::REMOTE) return "/autoware/modes/remote"; + } + return ""; + }; + + HazardStatusStamped hazard = convert_hazard_diagnostics(*msg, get_root(), is_ignore()); hazard.stamp = msg->stamp; hazard.status.level = get_system_level(hazard.status); hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT; diff --git a/system/hazard_status_converter/src/converter.hpp b/system/hazard_status_converter/src/converter.hpp index 90c6f6e42bf85..04e84cfb3c0c4 100644 --- a/system/hazard_status_converter/src/converter.hpp +++ b/system/hazard_status_converter/src/converter.hpp @@ -17,6 +17,8 @@ #include +#include +#include #include #include @@ -33,11 +35,20 @@ class Converter : public rclcpp::Node explicit Converter(const rclcpp::NodeOptions & options); private: + using AutowareState = autoware_auto_system_msgs::msg::AutowareState; + using OperationMode = autoware_adapi_v1_msgs::msg::OperationModeState; using DiagnosticGraph = tier4_system_msgs::msg::DiagnosticGraph; using HazardStatusStamped = autoware_auto_system_msgs::msg::HazardStatusStamped; + rclcpp::Subscription::SharedPtr sub_state_; + rclcpp::Subscription::SharedPtr sub_mode_; rclcpp::Subscription::SharedPtr sub_graph_; rclcpp::Publisher::SharedPtr pub_hazard_; + void on_state(const AutowareState::ConstSharedPtr msg); + void on_mode(const OperationMode::ConstSharedPtr msg); void on_graph(const DiagnosticGraph::ConstSharedPtr msg); + + AutowareState::ConstSharedPtr state_; + OperationMode::ConstSharedPtr mode_; }; } // namespace hazard_status_converter From 718bd0b822b7921d060d54595b05c0a3267f4783 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 4 Apr 2024 22:52:42 +0900 Subject: [PATCH 24/29] fix(lane_change): limit prepare and lane changing length (#6734) Signed-off-by: Zulfaqar Azmi --- .../utils/utils.hpp | 17 +++++++++++++++++ .../src/scene.cpp | 11 +++++------ .../src/utils/utils.cpp | 10 ++++++++++ 3 files changed, 32 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp index ff5d7bc0773fa..7c8cfdb926a6b 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp @@ -257,6 +257,23 @@ Polygon2d getEgoCurrentFootprint( bool isWithinIntersection( const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon); + +/** + * @brief Calculates the distance required during a lane change operation. + * + * Used for computing prepare or lane change length based on current and maximum velocity, + * acceleration, and duration, returning the lesser of accelerated distance or distance at max + * velocity. + * + * @param velocity The current velocity of the vehicle in meters per second (m/s). + * @param maximum_velocity The maximum velocity the vehicle can reach in meters per second (m/s). + * @param acceleration The acceleration of the vehicle in meters per second squared (m/s^2). + * @param duration The duration of the lane change in seconds (s). + * @return The calculated minimum distance in meters (m). + */ +double calcPhaseLength( + const double velocity, const double maximum_velocity, const double acceleration, + const double time); } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index a6d21aede64b6..bc9a366e62b34 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -1293,9 +1293,8 @@ bool NormalLaneChange::getLaneChangePaths( (prepare_duration < 1e-3) ? 0.0 : ((prepare_velocity - current_velocity) / prepare_duration); - const double prepare_length = - current_velocity * prepare_duration + - 0.5 * longitudinal_acc_on_prepare * std::pow(prepare_duration, 2); + const auto prepare_length = utils::lane_change::calcPhaseLength( + current_velocity, getCommonParam().max_vel, longitudinal_acc_on_prepare, prepare_duration); auto prepare_segment = getPrepareSegment(current_lanes, backward_path_length, prepare_length); @@ -1347,9 +1346,9 @@ bool NormalLaneChange::getLaneChangePaths( utils::lane_change::calcLaneChangingAcceleration( initial_lane_changing_velocity, max_path_velocity, lane_changing_time, sampled_longitudinal_acc); - const auto lane_changing_length = - initial_lane_changing_velocity * lane_changing_time + - 0.5 * longitudinal_acc_on_lane_changing * lane_changing_time * lane_changing_time; + const auto lane_changing_length = utils::lane_change::calcPhaseLength( + initial_lane_changing_velocity, getCommonParam().max_vel, + longitudinal_acc_on_lane_changing, lane_changing_time); const auto terminal_lane_changing_velocity = std::min( initial_lane_changing_velocity + longitudinal_acc_on_lane_changing * lane_changing_time, getCommonParam().max_vel); diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index 0b4893f94e071..15db6b0055756 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -1184,6 +1184,16 @@ bool isWithinIntersection( return boost::geometry::within( polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); } + +double calcPhaseLength( + const double velocity, const double maximum_velocity, const double acceleration, + const double duration) +{ + const auto length_with_acceleration = + velocity * duration + 0.5 * acceleration * std::pow(duration, 2); + const auto length_with_max_velocity = maximum_velocity * duration; + return std::min(length_with_acceleration, length_with_max_velocity); +} } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug From 5d0922dfe3cecb32082ff9ad01d933b006373b30 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 4 Apr 2024 23:23:04 +0900 Subject: [PATCH 25/29] feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (#6748) Signed-off-by: kosuke55 --- .../src/metrics_calculator.cpp | 13 +++++++++---- .../src/perception_online_evaluator_node.cpp | 1 + 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp index 20d8c6d570489..4b882bb8b2e68 100644 --- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp +++ b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp @@ -381,12 +381,17 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas if (time_diff < 0.01) { continue; } - const auto current_yaw = + const double current_yaw = tf2::getYaw(object.kinematics.initial_pose_with_covariance.pose.orientation); - const auto previous_yaw = + const double previous_yaw = tf2::getYaw(previous_object.kinematics.initial_pose_with_covariance.pose.orientation); - const auto yaw_rate = - std::abs(tier4_autoware_utils::normalizeRadian(current_yaw - previous_yaw) / time_diff); + const double yaw_diff = + std::abs(tier4_autoware_utils::normalizeRadian(current_yaw - previous_yaw)); + // if yaw_diff is close to PI, reversal of orientation is likely occurring, so ignore it + if (std::abs(M_PI - yaw_diff) < 0.1) { + continue; + } + const auto yaw_rate = yaw_diff / time_diff; stat.add(yaw_rate); } metric_stat_map["yaw_rate_" + convertLabelToString(label)] = stat; diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index f3a08bf42797a..ceb304894ad8c 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -214,6 +214,7 @@ rcl_interfaces::msg::SetParametersResult PerceptionOnlineEvaluatorNode::onParame auto & p = parameters_; updateParam(parameters, "smoothing_window_size", p->smoothing_window_size); + updateParam(parameters, "stopped_velocity_threshold", p->stopped_velocity_threshold); // update metrics { From a6b29aa839e8c15350d9e1dffe2e4a3d6a16e6bd Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 5 Apr 2024 10:22:46 +0900 Subject: [PATCH 26/29] feat(obstacle_pointcloud_based_validator_node): skip validation when obstacle pointcloud is empty (#6684) * feat: skip validation when obstacle pointcloud is empty Signed-off-by: yoshiri * fix: remove mistakenly unremoved line Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- .../src/obstacle_pointcloud_based_validator.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp index e39de639a6121..db2e6ec3a7901 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp @@ -327,15 +327,19 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( // objects_pub_->publish(*input_objects); return; } + bool validation_is_ready = true; if (!validator_->setKdtreeInputCloud(input_obstacle_pointcloud)) { - RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5, "cannot receive pointcloud"); - return; + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5, + "obstacle pointcloud is empty! Can not validate objects."); + validation_is_ready = false; } for (size_t i = 0; i < transformed_objects.objects.size(); ++i) { const auto & transformed_object = transformed_objects.objects.at(i); const auto & object = input_objects->objects.at(i); - const auto validated = validator_->validate_object(transformed_object); + const auto validated = + validation_is_ready ? validator_->validate_object(transformed_object) : false; if (debugger_) { debugger_->addNeighborPointcloud(validator_->getDebugNeighborPointCloud()); debugger_->addPointcloudWithinPolygon(validator_->getDebugPointCloudWithinObject()); From c0f09e1700143f83e72330d63a3b39c0d94e7741 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 5 Apr 2024 10:49:31 +0900 Subject: [PATCH 27/29] feat(lane_change): check prepare phase in turn direction lanes (#6726) * feat(lane_change): check prepare phase in turn direction lanes Signed-off-by: Muhammad Zulfaqar Azmi * Doxygen comment Signed-off-by: Muhammad Zulfaqar Azmi * Add config Signed-off-by: Muhammad Zulfaqar Azmi * fix comments by the reviewer Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_lane_change_module/README.md | 3 ++- .../config/lane_change.param.yaml | 1 + .../utils/data_structs.hpp | 1 + .../utils/utils.hpp | 15 +++++++++++++++ .../src/manager.cpp | 2 ++ .../src/scene.cpp | 10 +++++++++- .../src/utils/utils.cpp | 13 +++++++++++++ 7 files changed, 43 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 17cdc58f5ad47..62f35a053958a 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -554,7 +554,8 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi | Name | Unit | Type | Description | Default value | | :------------------------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | | `enable_collision_check_for_prepare_phase.general_lanes` | [-] | boolean | Perform collision check starting from the prepare phase for situations not explicitly covered by other settings (e.g., intersections). If `false`, collision check only evaluated for lane changing phase. | false | -| `enable_collision_check_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | false | +| `enable_collision_check_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | true | +| `enable_collision_check_for_prepare_phase.turns` | [-] | boolean | Perform collision check starting from prepare phase when ego is in lanelet with turn direction tags. If `false`, collision check only evaluated for lane changing phase. | true | | `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | | `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | | `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | diff --git a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml index 039e8a31ed10f..1ab33514c5f24 100644 --- a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml @@ -92,6 +92,7 @@ enable_collision_check_for_prepare_phase: general_lanes: false intersection: true + turns: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: true check_objects_on_other_lanes: true diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp index 0d77135fda242..fdaa15ff9bef9 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp @@ -114,6 +114,7 @@ struct LaneChangeParameters // collision check bool enable_collision_check_for_prepare_phase_in_general_lanes{false}; bool enable_collision_check_for_prepare_phase_in_intersection{true}; + bool enable_collision_check_for_prepare_phase_in_turns{true}; double prepare_segment_ignore_object_velocity_thresh{0.1}; bool check_objects_on_current_lanes{true}; bool check_objects_on_other_lanes{true}; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp index 7c8cfdb926a6b..76331bd98eb9c 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp @@ -258,6 +258,21 @@ bool isWithinIntersection( const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon); +/** + * @brief Determines if a polygon is within lanes designated for turning. + * + * Checks if a polygon overlaps with lanelets tagged for turning directions (excluding 'straight'). + * It evaluates the lanelet's 'turn_direction' attribute and determines overlap with the lanelet's + * area. + * + * @param lanelet Lanelet representing the road segment whose turn direction is to be evaluated. + * @param polygon The polygon to be checked for its presence within turn direction lanes. + * + * @return bool True if the polygon is within a lane designated for turning, false if it is within a + * straight lane or no turn direction is specified. + */ +bool isWithinTurnDirectionLanes(const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon); + /** * @brief Calculates the distance required during a lane change operation. * diff --git a/planning/behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_lane_change_module/src/manager.cpp index 7045544df50aa..81d4b86afa094 100644 --- a/planning/behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_lane_change_module/src/manager.cpp @@ -72,6 +72,8 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) *node, parameter("enable_collision_check_for_prepare_phase.general_lanes")); p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter( *node, parameter("enable_collision_check_for_prepare_phase.intersection")); + p.enable_collision_check_for_prepare_phase_in_turns = + getOrDeclareParameter(*node, parameter("enable_collision_check_for_prepare_phase.turns")); p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter( *node, parameter("prepare_segment_ignore_object_velocity_thresh")); p.check_objects_on_current_lanes = diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index bc9a366e62b34..3a4a44ef33edb 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -2142,7 +2142,15 @@ bool NormalLaneChange::check_prepare_phase() const return utils::lane_change::isWithinIntersection(route_handler, current_lane, ego_footprint); }); - return check_in_intersection || check_in_general_lanes; + const auto check_in_turns = std::invoke([&]() { + if (!lane_change_parameters_->enable_collision_check_for_prepare_phase_in_turns) { + return false; + } + + return utils::lane_change::isWithinTurnDirectionLanes(current_lane, ego_footprint); + }); + + return check_in_intersection || check_in_turns || check_in_general_lanes; } } // namespace behavior_path_planner diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index 15db6b0055756..97fcc841a546e 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -37,6 +37,8 @@ #include +#include + #include #include #include @@ -1185,6 +1187,17 @@ bool isWithinIntersection( polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); } +bool isWithinTurnDirectionLanes(const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon) +{ + const std::string turn_direction = lanelet.attributeOr("turn_direction", "else"); + if (turn_direction == "else" || turn_direction == "straight") { + return false; + } + + return !boost::geometry::disjoint( + polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet.polygon2d().basicPolygon()))); +} + double calcPhaseLength( const double velocity, const double maximum_velocity, const double acceleration, const double duration) From 392a83c1c9d72369c656a56b4a5e074e64340fcb Mon Sep 17 00:00:00 2001 From: anhnv3991 Date: Fri, 5 Apr 2024 08:46:51 +0700 Subject: [PATCH 28/29] Keep timeout only Signed-off-by: anhnv3991 --- .../ndt_scan_matcher/map_update_module.hpp | 7 -- .../src/map_update_module.cpp | 74 +------------------ .../differential_map_loader_module.cpp | 18 ----- 3 files changed, 3 insertions(+), 96 deletions(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index 4e80042709ec6..2eb14b6004282 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -60,13 +60,6 @@ class MapUpdateModule [[nodiscard]] bool should_update_map(const geometry_msgs::msg::Point & position); void publish_partial_pcd_map(); - // Looking for PCDs in the vicinity of the specified location - void query_pcds( - double px, double py, double radius, std::unordered_set & maps_to_add, - std::unordered_set & maps_to_remove); - // Compute distance between an origin and a pcd segment - double dist(double px, double py, int idx, int idy); - rclcpp::Publisher::SharedPtr loaded_pcd_pub_; rclcpp::Client::SharedPtr diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 9fbf9e412b229..8034c1f8be18a 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -146,13 +146,8 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt request, [](rclcpp::Client::SharedFuture) {})}; - // While waiting for the requested pcds, look for indices of the candidate pcds - std::unordered_set pcds_to_remove, pcds_to_add; - - query_pcds(position.x, position.y, param_.map_radius, pcds_to_add, pcds_to_remove); - - // Wait for maximum 20 milliseconds - std::chrono::milliseconds timeout(20); + // Wait for maximum 10 milliseconds + std::chrono::milliseconds timeout(10); auto start = std::chrono::system_clock::now(); std::future_status status = result.wait_for(std::chrono::seconds(0)); @@ -177,20 +172,7 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt auto & maps_to_add = result.get()->new_pointcloud_with_ids; auto & map_ids_to_remove = result.get()->ids_to_remove; - // Check if there are any maps in the pcds_to_add not coming - for (auto & name : pcds_to_add) { - if (maps_to_add.find(name) == maps_to_add.end()) { - RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "File %s not coming.", name.c_str()); - } - } - - for (auto & name : pcds_to_remove) { - if (map_ids_to_remove.find(name) == map_ids_to_remove.end()) { - RCLCPP_ERROR_STREAM_THROTTLE( - logger_, *clock_, 1000, "File %s should be removed but it was not.", name.c_str()); - } - } - + // Check RCLCPP_INFO( logger_, "Update map (Add: %lu, Remove: %lu)", maps_to_add.size(), map_ids_to_remove.size()); if (maps_to_add.empty() && map_ids_to_remove.empty()) { @@ -233,53 +215,3 @@ void MapUpdateModule::publish_partial_pcd_map() loaded_pcd_pub_->publish(map_msg); } - -void MapUpdateModuble::query_pcds( - double px, double py, double radius, std::unordered_set & maps_to_add, - std::unordered_set & maps_to_remove) -{ - int lower_x = static_cast(floor((px - radius) / pcd_res_x_)); - int lower_y = static_cast(floor((py - radius) / pcd_res_y_)); - int upper_x = static_cast(floor((px + radius) / pcd_res_x_)); - int upper_y = static_cast(floor((py + radius) / pcd_res_y_)); - double rel_px = px - pcd_lower_x_, rel_py = py - pcd_lower_y_; - std::unordered_set nn_pcds; - - for (int idx = lower_x; idx < upper_x; ++idx) { - for (int idy = lower_y; idy < upper_y; ++idy) { - // Skip if the pcd file is not within the query radius - if (dist(rel_px, rel_py, idx, idy) > radius) { - continue; - } - - // Generate name of the PCD file - std::string name = pcd_tag_ + "_" + std::to_string(x) + "_" + std::to_string(y) + ".pcd"; - - if (cur_pcds_.find(name) == cur_pcds_.end()) { - maps_to_add.insert(name); - } else { - nn_pcds.insert(name); - } - } - } - - // Compare with @cur_pcds_ to find out which pcds to remove - for (auto & name : cur_pcds_) { - if (nn_pcds.find(name) == nn_pcds.end()) { - map_ids_to_remove.insert(name); - } - } -} - -double MapUpdateModule::dist(double px, double py, int idx, int idy) -{ - double lx = idx * pcd_res_x_; - double ly = idy * pcd_res_y_; - double ux = lx + pcd_res_x_; - double uy = ly + pcd_res_y_; - - double dx = (px < lx) ? lx - px : ((px >= ux) ? px - ux : 0); - double dy = (py < ly) ? ly - py : ((py >= uy) ? py - uy : 0); - - return std::hypot(dx, dy); -} diff --git a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp index 3b270b0084ccf..a8d380fd81b86 100644 --- a/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp +++ b/map/map_loader/src/pointcloud_map_loader/differential_map_loader_module.cpp @@ -29,12 +29,6 @@ void DifferentialMapLoaderModule::differentialAreaLoad( const autoware_map_msgs::msg::AreaInfo & area, const std::vector & cached_ids, GetDifferentialPointCloudMap::Response::SharedPtr & response) const { - // For debug - std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); - - test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; - // End - // iterate over all the available pcd map grids std::vector should_remove(static_cast(cached_ids.size()), true); for (const auto & ele : all_pcd_file_metadata_dict_) { @@ -73,12 +67,6 @@ bool DifferentialMapLoaderModule::onServiceGetDifferentialPointCloudMap( GetDifferentialPointCloudMap::Request::SharedPtr req, GetDifferentialPointCloudMap::Response::SharedPtr res) { - // For debug - std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); - - test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; - // End - auto area = req->area; std::vector cached_ids = req->cached_ids; differentialAreaLoad(area, cached_ids, res); @@ -90,12 +78,6 @@ autoware_map_msgs::msg::PointCloudMapCellWithID DifferentialMapLoaderModule::loadPointCloudMapCellWithID( const std::string & path, const std::string & map_id) const { - // For debug - std::ofstream test("/home/anh/Work/autoware/test.txt", std::ios::app); - - test << __FILE__ << "::" << __LINE__ << "::" << __func__ << std::endl; - // End - sensor_msgs::msg::PointCloud2 pcd; if (pcl::io::loadPCDFile(path, pcd) == -1) { RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path); From 1a852f2353cdda87a6df32650a4f15d245e7ccbf Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 5 Apr 2024 01:54:19 +0000 Subject: [PATCH 29/29] style(pre-commit): autofix --- localization/ndt_scan_matcher/src/map_update_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 8034c1f8be18a..47aab3e62e79b 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -172,7 +172,7 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt auto & maps_to_add = result.get()->new_pointcloud_with_ids; auto & map_ids_to_remove = result.get()->ids_to_remove; - // Check + // Check RCLCPP_INFO( logger_, "Update map (Add: %lu, Remove: %lu)", maps_to_add.size(), map_ids_to_remove.size()); if (maps_to_add.empty() && map_ids_to_remove.empty()) {