feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios #7987

ahmeddesokyebrahim · 2024-07-11T23:10:04Z

Description

Closes #7922

How was this PR tested?

Using scenario simulation

scenario
map

Before this PR:

2024-07-09.15-09-42.mp4

After this PR:

2024-07-15.23-04-11.mp4

Notes for reviewers

This PR depends on the parameter change in autoware_launch in this PR

Interface changes

ROS Topic Changes

N.A

ROS Parameter Changes

Parameter Name	Default Value	Update Description
`common.safe_distance_method`	"time_based"	safe distance method selection from time_based and RSS
`common.safe_distance_time_margin`	2.0	time values used in time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rule [s]

Effects on system behavior

Having Autoware obstacle_cruise_planner more human like in cruising scenarios, mitigating any mitigate any unnecessary long safe distance ego and npc

github-actions · 2024-07-11T23:10:28Z

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Signed-off-by: Ahmed Ebrahim <[email protected]>

…to prevent unneeded delayed start of ego following front npc Signed-off-by: Ahmed Ebrahim <[email protected]>

…t between time-based and rss methods Signed-off-by: Ahmed Ebrahim <[email protected]>

Signed-off-by: Ahmed Ebrahim <[email protected]>

codecov · 2024-07-15T22:14:14Z

Codecov Report

Attention: Patch coverage is 12.50000% with 14 lines in your changes missing coverage. Please review.

Project coverage is 28.93%. Comparing base (0eae67c) to head (0438644).

Files	Patch %	Lines
...lanner/src/pid_based_planner/pid_based_planner.cpp	0.00%	7 Missing ⚠️
...utoware/obstacle_cruise_planner/common_structs.hpp	33.33%	4 Missing ⚠️
..._obstacle_cruise_planner/src/planner_interface.cpp	0.00%	2 Missing ⚠️
...ware/obstacle_cruise_planner/planner_interface.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7987      +/-   ##
==========================================
- Coverage   28.94%   28.93%   -0.01%     
==========================================
  Files        1606     1607       +1     
  Lines      117446   117484      +38     
  Branches    50463    50471       +8     
==========================================
+ Hits        33992    33997       +5     
- Misses      74281    74314      +33     
  Partials     9173     9173

Flag	Coverage Δ		*Carryforward flag
differential	`6.67% <12.50%> (?)`
total	`28.94% <ø> (+<0.01%)`	⬆️	Carriedforward from 0eae67c

*This pull request uses carry forward flags. Click here to find out more.

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takayuki5168 · 2024-07-18T09:03:10Z

planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml

@@ -9,11 +9,13 @@
      enable_slow_down_planning: true

      # longitudinal info
+      safe_distance_method: "time_based" # currently supported safe distance calculation methods are "rss" and "time-based"


Can you change the default one as rss_based since this new logic is not well tested, especially in the real environment.

takayuki5168 · 2024-07-18T09:04:23Z

planning/autoware_obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml

      idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
      min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
      min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
      safe_distance_margin : 6.0 # This is also used as a stop margin [m]
      terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
+      safe_distance_time_margin : 2.0 # This is used for time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rule [s]


Can you separate the block depending on the logic as follows?

rss_based: idling_time: 2.0 min_ego_accel_for_rs: -1.0 ... time_based: safe_distance_time_margin: 2.0

takayuki5168 · 2024-07-18T09:06:51Z

planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp

+    const double target_dist_to_obstacle = [&]() -> double {
+      if (longitudinal_info_.safe_distance_method == "time_based") {
+        // calculate distance between ego and obstacle based on time-based rule
+        return calcTimeBasedSafeDistance(
+          planner_data.ego_vel, longitudinal_info_.safe_distance_time_margin);
+      } else {
+        // calculate distance between ego and obstacle based on RSS
+        return calcRSSDistance(
+          planner_data.ego_vel, obstacle.velocity, longitudinal_info_.safe_distance_margin);
+      }
+    }();


Can you create a member function of calcSafeDistance (you can change the name) which uses calcTimeBasedSafeDistance and calcRSSDistance internally, and make calcTimeBasedSafeDistance and calcRSSDistance functions private so that other people won't use calcTimeBasedSafeDistance and calcRSSDistance directly by mistake?

takayuki5168 · 2024-07-18T09:08:07Z

planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp

+    double margin_from_obstacle =
+      calcTimeBasedSafeDistance(planner_data.ego_vel, longitudinal_info_.safe_distance_time_margin);
+    return margin_from_obstacle;


Do we have to change this part as well?
Like the existing code, the distance for the STOP should be used I guess.

ahmeddesokyebrahim · 2024-07-23T13:12:33Z

I will close this PR, replacing it with another approach in this PR

ahmeddesokyebrahim self-assigned this Jul 11, 2024

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jul 11, 2024

ahmeddesokyebrahim changed the title ~~feat(time-based-safe-dist): initial implementation~~ feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios Jul 11, 2024

Ahmed Ebrahim and others added 5 commits July 15, 2024 18:51

feat(time-based-safe-dist): initial implementation

5eec2eb

Signed-off-by: Ahmed Ebrahim <[email protected]>

style(pre-commit): autofix

586ed10

feat(time-based-safe-dist): update desired margin in stop trajectory …

350999a

…to prevent unneeded delayed start of ego following front npc Signed-off-by: Ahmed Ebrahim <[email protected]>

feat(time-based-safe-dist): add parameter and implementation to selec…

4cb3960

…t between time-based and rss methods Signed-off-by: Ahmed Ebrahim <[email protected]>

feat(time-based-safe-dist): update readme file

9d9f497

Signed-off-by: Ahmed Ebrahim <[email protected]>

ahmeddesokyebrahim force-pushed the autoware/universe/7922-feat-time-based-safe-distance branch from 1a91870 to 9d9f497 Compare July 15, 2024 21:38

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jul 15, 2024

style(pre-commit): autofix

0438644

ahmeddesokyebrahim marked this pull request as ready for review July 15, 2024 22:00

ahmeddesokyebrahim requested review from kosuke55, satoshi-ota, takayuki5168 and yuki-takagi-66 as code owners July 15, 2024 22:00

ahmeddesokyebrahim added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 15, 2024

takayuki5168 self-assigned this Jul 18, 2024

takayuki5168 reviewed Jul 18, 2024

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ahmeddesokyebrahim closed this Jul 23, 2024

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feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios #7987

feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios #7987

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ahmeddesokyebrahim commented Jul 23, 2024

feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios #7987

feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios #7987

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ahmeddesokyebrahim commented Jul 11, 2024 • edited Loading

Description

Related links

How was this PR tested?

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

github-actions bot commented Jul 11, 2024 • edited Loading

codecov bot commented Jul 15, 2024 • edited Loading

Codecov Report

takayuki5168 Jul 18, 2024

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ahmeddesokyebrahim commented Jul 11, 2024 •

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