feat(start_planner): add surround moving obstacle check #5782

kyoichi-sugahara · 2023-12-05T09:47:51Z

Description

This PR should be merged first!!!

This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles.

It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked.
The noMovingObjectsAround function has been added to filter dynamic objects within a certain radius based on their velocity.
- If no moving objects are detected, the function returns true; otherwise, it returns false.
This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist.

Tests performed

confirmed with psim that safe status becomes false
※safety check against dynamic object is disabled in the scene

PASS TIERIV INTERNAL SCEANRIOS

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

kosuke55 · 2023-12-05T09:59:47Z

planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp

@@ -44,6 +44,16 @@ bool position_filter(

  return (backward_distance < dist_ego_to_obj && dist_ego_to_obj < forward_distance);
 }
+
+bool position_filter(


any better name that makes it easier to understand what the bool value represents?

thanks for the comment!
Let me think 🤔

@zulfaqar-azmi-t4
Do you think I can define different function name for positon_filter?
If so, is it better to change other functions name like the other position_filter and velocity_filter?
Do you have any specific concept in this part?

@kosuke55
How about is_within_circle?

@kyoichi-sugahara looks good to me

renamed in 13e06e6

kosuke55

LGTM! thanks for quick work!

This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles. - It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked. - The `noMovingObjectsAround` function has been added to filter dynamic objects within a certain radius based on their velocity. - If no moving objects are detected, the function returns true; otherwise, it returns false. - This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist. Signed-off-by: kyoichi-sugahara <[email protected]>

Signed-off-by: kyoichi-sugahara <[email protected]>

1. The `updateData()` function now sets `status_.is_safe_dynamic_objects` to true when `requiresDynamicObjectsCollisionDetection()` returns false. 2. The `isExecutionReady()` function now checks for dynamic object collisions only if `requiresDynamicObjectsCollisionDetection()` returns true and `isWaitingApproval()` also returns true. This change ensures that dynamic object collision detection is performed only when necessary and approval is pending. Signed-off-by: kyoichi-sugahara <[email protected]>

Signed-off-by: kyoichi-sugahara <[email protected]>

codecov · 2023-12-06T12:18:30Z

Codecov Report

Attention: 825 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (6f37f55) 12.65%.
Report is 167 commits behind head on main.

Files	Patch %	Lines
.../scene_module/goal_planner/goal_planner_module.cpp	0.58%	168 Missing and 2 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	10.48%	111 Missing and 17 partials ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	1.88%	99 Missing and 5 partials ⚠️
...cene_module/start_planner/start_planner_module.cpp	20.72%	78 Missing and 10 partials ⚠️
..._path_planner/src/marker_utils/avoidance/debug.cpp	0.00%	61 Missing ⚠️
...planner/src/scene_module/start_planner/manager.cpp	6.25%	6 Missing and 39 partials ⚠️
...ath_planner/src/scene_module/avoidance/manager.cpp	18.86%	0 Missing and 43 partials ⚠️
...th_planner/src/scene_module/lane_change/normal.cpp	0.00%	28 Missing ⚠️
...ner/src/scene_module/dynamic_avoidance/manager.cpp	20.68%	4 Missing and 19 partials ⚠️
..._planner/src/scene_module/goal_planner/manager.cpp	11.53%	2 Missing and 21 partials ⚠️
... and 19 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5782       +/-   ##
===========================================
- Coverage   15.32%   12.65%    -2.67%     
===========================================
  Files        1721      107     -1614     
  Lines      118559    14970   -103589     
  Branches    37995     8321    -29674     
===========================================
- Hits        18169     1895    -16274     
+ Misses      79657    10160    -69497     
+ Partials    20733     2915    -17818

Flag	Coverage Δ
differential	`12.65% <13.88%> (?)`
total	`?`

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

…dation#5782) * feat(start_planner): add surround moving obstacle check This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles. - It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked. - The `noMovingObjectsAround` function has been added to filter dynamic objects within a certain radius based on their velocity. - If no moving objects are detected, the function returns true; otherwise, it returns false. - This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist. --------- Signed-off-by: kyoichi-sugahara <[email protected]>

…dation#5782) * feat(start_planner): add surround moving obstacle check This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles. - It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked. - The `noMovingObjectsAround` function has been added to filter dynamic objects within a certain radius based on their velocity. - If no moving objects are detected, the function returns true; otherwise, it returns false. - This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist. --------- Signed-off-by: kyoichi-sugahara <[email protected]> Signed-off-by: karishma <[email protected]>

…dation#5782)

…dation#5782) * feat(start_planner): add surround moving obstacle check This commit introduces a new feature in the start_planner module for checking surrounding moving obstacles. - It adds parameters to specify the search radius and threshold velocity for moving obstacles, along with flags to indicate which types of objects should be checked. - The `noMovingObjectsAround` function has been added to filter dynamic objects within a certain radius based on their velocity. - If no moving objects are detected, the function returns true; otherwise, it returns false. - This feature enhances the safety of the start_planner by ensuring that the path can't be approved while surrond moving obstacles exist. --------- Signed-off-by: kyoichi-sugahara <[email protected]>

kyoichi-sugahara requested review from rej55, kosuke55, soblin, maxime-clem, satoshi-ota, shmpwk, TakaHoribe, takayuki5168, tkimura4, zulfaqar-azmi-t4 and taikitanaka3 as code owners December 5, 2023 09:47

kyoichi-sugahara assigned kosuke55 Dec 5, 2023

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Dec 5, 2023

kyoichi-sugahara mentioned this pull request Dec 5, 2023

feat(start_planner): add surround moving obstacle check autowarefoundation/autoware_launch#723

Merged

4 tasks

kosuke55 reviewed Dec 5, 2023

View reviewed changes

kosuke55 approved these changes Dec 5, 2023

View reviewed changes

kyoichi-sugahara force-pushed the feat/surround_moving_obstacles_check branch from 13e06e6 to fae9c75 Compare December 5, 2023 16:35

kyoichi-sugahara added 3 commits December 6, 2023 18:56

renamed function

6d06e1f

Signed-off-by: kyoichi-sugahara <[email protected]>

kyoichi-sugahara force-pushed the feat/surround_moving_obstacles_check branch from fae9c75 to 711f4bc Compare December 6, 2023 09:59

Merge branch 'main' into feat/surround_moving_obstacles_check

6f37f55

Signed-off-by: kyoichi-sugahara <[email protected]>

kyoichi-sugahara enabled auto-merge (squash) December 6, 2023 11:45

kyoichi-sugahara added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 6, 2023

kyoichi-sugahara disabled auto-merge December 6, 2023 11:46

kyoichi-sugahara merged commit ab4a3eb into autowarefoundation:main Dec 6, 2023
31 of 35 checks passed

kyoichi-sugahara deleted the feat/surround_moving_obstacles_check branch December 6, 2023 16:04

kyoichi-sugahara mentioned this pull request Dec 8, 2023

fix(start_planner): check safety only when waiting approval (#5792) tier4/autoware.universe#1064

Merged

4 tasks

tier4-autoware-public-bot bot mentioned this pull request Dec 20, 2023

chore: sync upstream tier4/autoware.universe#1078

Merged

j4tfwm6z pushed a commit to tier4/autoware.universe that referenced this pull request Dec 26, 2023

feat(start_planner): add surround moving obstacle check (autowarefoun…

e40662c

…dation#5782)

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(start_planner): add surround moving obstacle check #5782

feat(start_planner): add surround moving obstacle check #5782

kyoichi-sugahara commented Dec 5, 2023 •

edited

Loading

kosuke55 Dec 5, 2023

kyoichi-sugahara Dec 5, 2023

kyoichi-sugahara Dec 5, 2023

kyoichi-sugahara Dec 5, 2023

kosuke55 Dec 5, 2023

kyoichi-sugahara Dec 5, 2023

kosuke55 left a comment

codecov bot commented Dec 6, 2023

feat(start_planner): add surround moving obstacle check #5782

feat(start_planner): add surround moving obstacle check #5782

Conversation

kyoichi-sugahara commented Dec 5, 2023 • edited Loading

Description

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

kosuke55 Dec 5, 2023

Choose a reason for hiding this comment

kyoichi-sugahara Dec 5, 2023

Choose a reason for hiding this comment

kyoichi-sugahara Dec 5, 2023

Choose a reason for hiding this comment

kyoichi-sugahara Dec 5, 2023

Choose a reason for hiding this comment

kosuke55 Dec 5, 2023

Choose a reason for hiding this comment

kyoichi-sugahara Dec 5, 2023

Choose a reason for hiding this comment

kosuke55 left a comment

Choose a reason for hiding this comment

codecov bot commented Dec 6, 2023

Codecov Report

kyoichi-sugahara commented Dec 5, 2023 •

edited

Loading