feat(dynamic_avoidance): avoid pedestrians #6553
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| NOT_TO_AVOID = 0, | ||
| LaneDriveObject, | ||
| FreeRunObject, |
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FreeRunObject is hard to understand.
The best enum would be ObjectType which includes
- Vehicle
- Technically, bicycles should be included, but in our case, not included.
- NotVehicle
, and the getter function's output is std::optional<ObjectType> to deal with objects not to avoid.
Or if you wanna add the ego's behavior to the enum, the enum would be ObjectBehaviorType which includes
- Ignore
- AvoidVehicleObject
- AvoidNotVehicleObject
I don't come up with a good name.
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Thank you.
I'll think these names again after the polygon generation algorithm is decided
...avior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
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| geometry_msgs::msg::Pose pose{}; | ||
| double pose_covariance_sqrt[36]; // for experimental |
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| pose_covariance_sqrt[i] = | ||
| std::sqrt(predicted_object.kinematics.initial_pose_with_covariance.covariance[i]); |
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If you're gonna keep this line, please use squared value instead of square root value for the computation cost
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| enum class ObjectBehaviorType { | ||
| IGNORE = 0, | ||
| REGULATED, | ||
| PRIORITIZED, | ||
| }; |
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The subject of IGNORE is the ego, but that of REGULATED/PRIORITIZED is the object? They should be the same.
Also, what do you mean by PRIORITIZED in this enum.
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...avior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
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| @@ -1403,6 +1669,7 @@ DynamicAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon( | |||
| return obj_poly; | |||
| } | |||
|
|
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| // TODO (takagi): replace by the nother function? | |||
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| // TODO (takagi): replace by the nother function? | |
| // TODO (takagi): replace by the another function? |
...avior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
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Apr 18, 2024
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
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Signed-off-by: Yuki Takagi <[email protected]>
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new feature: avoid against the pedestrians Signed-off-by: Yuki Takagi <[email protected]>
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feat(dynamic_avoidance): avoid pedestrians autowarefoundation#6553
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new feature: avoid against the pedestrians Signed-off-by: Yuki Takagi <[email protected]>
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Description
New feature
Avoid against pedestrians becomes available.
Selection algorithms is similar to the conventional logic for vehicles.
Polygon generation logic is significant different from the the conventional logic.
For more details, please see the updated document
https://autowarefoundation.github.io/autoware.universe/pr-6553/planning/behavior_path_dynamic_avoidance_module/#cuts-off-the-drivable-area-against-the-selected-pedestrians
Sample videos
Screencast from 04-08-2024 07:13:23 PM.webm
Screencast from 04-08-2024 07:31:41 PM.webm
Screencast from 04-12-2024 02:53:38 PM.webm
Related links
launch PR: autowarefoundation/autoware_launch#958
Tests performed
Psim tests and tier4 internal tests were performed.
Notes for reviewers
Interface changes
Nothing
Effects on system behavior
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