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

* add method to ignore target obstacles that cross ego cut lane

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

* WIP add debug support

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

* add params and finish debug marker

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

* change lane to line

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

* use autoware utils to get the cut line

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

* simplify code wit calcOffsetPose

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

* Update readme and eliminate unused code

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

* update readme

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

* eliminate unused function

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

* readme

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

* comments and readme

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

* eliminate unused include

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

* typo

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

* rename param for consistency

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

* change lane to line for consistency

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

* rename for clarity, add brief

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

* fix indentation

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

* update description

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

* lane ->line

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

* lane -> line

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

---------

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

Author: danielsanchezaran

planning/behavior_velocity_run_out_module/README.md

@@ -108,6 +108,14 @@ You can choose whether to use this feature by parameter of `use_partition_lanele
 
 ![brief](./docs/exclude_obstacles_by_partition.svg)
 
+##### Exclude obstacles that cross the ego vehicle's "cut line"
+
+This module can exclude obstacles that have predicted paths that will cross the back side of the ego vehicle. It excludes obstacles if their predicted path crosses the ego's "cut line". The "cut line" is a virtual line segment that is perpendicular to the ego vehicle and that passes through the ego's base link.
+
+You can choose whether to use this feature by setting the parameter `use_ego_cut_line` to `true` or `false`. The width of the line can be tuned with the parameter `ego_cut_line_length`.
+
+![brief](./docs/ego_cut_line.svg)
+
 #### Collision detection
 
 ##### Detect collision with dynamic obstacles

planning/behavior_velocity_run_out_module/config/run_out.param.yaml

@@ -5,12 +5,14 @@
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
       specify_decel_jerk: false   # [-] whether to specify jerk when ego decelerates
+      use_ego_cut_line: true      # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
       deceleration_jerk: -0.3     # [m/s^3] ego decelerates with this jerk when stopping for obstacles
       detection_distance: 45.0    # [m] ahead distance from ego to detect the obstacles
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
       min_vel_ego_kmph: 3.6       # [km/h] min velocity to calculate time to collision
+      ego_cut_line_length: 3.0    # The width of the ego's cut line
 
       detection_area:
         margin_behind: 0.5 # [m] ahead margin for detection area length

planning/behavior_velocity_run_out_module/docs/ego_cut_line.svg

@@ -86,6 +86,14 @@ void RunOutDebug::pushCollisionPoints(const geometry_msgs::msg::Point & point)
   collision_points_.push_back(point_with_height);
 }
 
+void RunOutDebug::pushEgoCutLine(const std::vector<geometry_msgs::msg::Point> & line)
+{
+  for (const auto & point : line) {
+    const auto point_with_height = createPoint(point.x, point.y, height_);
+    ego_cut_line_.push_back(point_with_height);
+  }
+}
+
 void RunOutDebug::pushCollisionPoints(const std::vector<geometry_msgs::msg::Point> & points)
 {
   for (const auto & p : points) {
@@ -160,6 +168,7 @@ void RunOutDebug::clearDebugMarker()
   predicted_obstacle_polygons_.clear();
   collision_obstacle_polygons_.clear();
   travel_time_texts_.clear();
+  ego_cut_line_.clear();
 }
 
 visualization_msgs::msg::MarkerArray RunOutDebug::createVisualizationMarkerArray()
@@ -265,6 +274,16 @@ visualization_msgs::msg::MarkerArray RunOutDebug::createVisualizationMarkerArray
       &msg);
   }
 
+  if (!ego_cut_line_.empty()) {
+    auto marker = createDefaultMarker(
+      "map", current_time, "ego_cut_line", 0, visualization_msgs::msg::Marker::LINE_LIST,
+      createMarkerScale(0.2, 0.2, 0.2), createMarkerColor(0.7, 0.0, 0.7, 0.999));
+    for (const auto & p : ego_cut_line_) {
+      marker.points.push_back(p);
+    }
+    msg.markers.push_back(marker);
+  }
+
   if (!travel_time_texts_.empty()) {
     auto marker = createDefaultMarker(
       "map", current_time, "travel_time_texts", 0,

planning/behavior_velocity_run_out_module/src/debug.cpp

@@ -109,6 +109,7 @@ class RunOutDebug
   void pushPredictedVehiclePolygons(const std::vector<geometry_msgs::msg::Point> & polygon);
   void pushPredictedObstaclePolygons(const std::vector<geometry_msgs::msg::Point> & polygon);
   void pushCollisionObstaclePolygons(const std::vector<geometry_msgs::msg::Point> & polygon);
+  void pushEgoCutLine(const std::vector<geometry_msgs::msg::Point> & line);
   void pushDetectionAreaPolygons(const Polygon2d & debug_polygon);
   void pushMandatoryDetectionAreaPolygons(const Polygon2d & debug_polygon);
   void pushTravelTimeTexts(
@@ -134,6 +135,7 @@ class RunOutDebug
   rclcpp::Publisher<PointCloud2>::SharedPtr pub_debug_pointcloud_;
   std::vector<geometry_msgs::msg::Point> collision_points_;
   std::vector<geometry_msgs::msg::Point> nearest_collision_point_;
+  std::vector<geometry_msgs::msg::Point> ego_cut_line_;
   std::vector<geometry_msgs::msg::Pose> stop_pose_;
   std::vector<std::vector<geometry_msgs::msg::Point>> predicted_vehicle_polygons_;
   std::vector<std::vector<geometry_msgs::msg::Point>> predicted_obstacle_polygons_;

planning/behavior_velocity_run_out_module/src/debug.hpp

@@ -58,6 +58,7 @@ RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node)
     auto & p = planner_param_.run_out;
     p.detection_method = getOrDeclareParameter<std::string>(node, ns + ".detection_method");
     p.use_partition_lanelet = getOrDeclareParameter<bool>(node, ns + ".use_partition_lanelet");
+    p.use_ego_cut_line = getOrDeclareParameter<bool>(node, ns + ".use_ego_cut_line");
     p.suppress_on_crosswalk = getOrDeclareParameter<bool>(node, ns + ".suppress_on_crosswalk");
     p.specify_decel_jerk = getOrDeclareParameter<bool>(node, ns + ".specify_decel_jerk");
     p.stop_margin = getOrDeclareParameter<double>(node, ns + ".stop_margin");
@@ -66,6 +67,7 @@ RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node)
     p.detection_distance = getOrDeclareParameter<double>(node, ns + ".detection_distance");
     p.detection_span = getOrDeclareParameter<double>(node, ns + ".detection_span");
     p.min_vel_ego_kmph = getOrDeclareParameter<double>(node, ns + ".min_vel_ego_kmph");
+    p.ego_cut_line_length = getOrDeclareParameter<double>(node, ns + ".ego_cut_line_length");
   }
 
   {