fix(static_obstacle_avoidance): improve avoidance for parked NPCs #1129

ahmeddesokyebrahim · 2024-08-20T13:38:55Z

Description

Fixes :

[Dense-Urban-ODD] Improve avoidance for parked NPCs autoware.universe#8539

Tests performed

Before this PR

UC-NTR-002-0002_case1 (second iteration when D = 20 m)

2024-09-03.15-33-07.mp4

UC-NTR-002-0002_case1 (third iteration when D = 15 m)

2024-09-03.15-45-02.mp4

UC-NTR-002-0002_case2 (second iteration when D = 20 m)

2024-09-03.16-05-18.mp4

UC-NTR-002-0002_case2 (third iteration when D = 15 m)

2024-09-03.16-06-22.mp4

After this PR

UC-NTR-002-0002_case1 (second iteration when D = 20 m)

2024-09-03.15-34-30.mp4

UC-NTR-002-0002_case1 (third iteration when D = 15 m)

2024-09-03.15-56-06.mp4

UC-NTR-002-0002_case2 (second iteration when D = 20 m)

2024-09-03.16-09-55.mp4

UC-NTR-002-0002_case2 (third iteration when D = 15 m)

2024-09-03.16-14-03.mp4

when dynamic_obstacle_avoidance is enable

NTR-002-0001-case1.-.Passed.all.cases.mp4

NTR-002-0001-case2.-.Passed.all.cases.mp4

NTR-002-0002-case1.-.Passed.all.cases.mp4

NTR-002-0002-case2.-.Passed.all.cases.mp4

Notes for reviewers

1st iteration of UC-NTR-002-0001_case1 & UC-NTR-002-0001_case2 is passing with current Autoware.
1st iteration of UC-NTR-002-0002_case1 & UC-NTR-002-0002_case2 is passing with current Autoware.
2nd and 3rd iterations of UC-NTR-002-0001_case1 & UC-NTR-002-0001_case2 will be covered in this issue "dynamic obstacle avoidance"

Interface changes

ROS Topic Changes

N.A

ROS Parameter Changes

Parameter Name	Updated Value	Update Description
soft_margin	0.5	lower lateral soft margin for triggering avoidance when second NPC is close to first NPC
hard_margin_for_parked_vehicle	0.2	lowering `hard_margin_for_parked_vehicle` to trigger avoidance for parked NPCs in side of the road
max_prepare_time	0.2	lower max prepare time for triggering avoidance when second NPC is close to first NPC
lateral.max_jerk_values	[3.0, 3.0, 3.0]	raising `max_jerk_values` to avoiding objects that are close to each other
pedestrian.longitudinal_margin	0.6	lowering `longitudinal_margin` for pedestrian to trigger avoidance for parked NPCs in side of the road
bicycle.longitudinal_margin	0.6	lowering `longitudinal_margin` for bicycle to trigger avoidance for parked NPCs in side of the road
motorcycle.longitudinal_margin	0.6	lowering `longitudinal_margin` for motorcycle to trigger avoidance for parked NPCs in side of the road

Effects on system behavior

The autoware_behavior_path_static_obstacle_avoidance_module is capable of handling improperly parked NPCs in dense urban situations.

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…andle dense urban scenarios #1129

…andle dense urban scenarios #1129 Signed-off-by: Ahmed Ebrahim <[email protected]> Signed-off-by: beyza <[email protected]>

…andle dense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]> Signed-off-by: beyza <[email protected]> #1129

brkay54

With this PR, static avoidance related scenarios have passed: AWF_Test_Report

…andle dense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>

…handle dense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>

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

…ense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>

…ban scenarios Signed-off-by: beyza <[email protected]>

…ense urban scenarios Signed-off-by: beyza <[email protected]>

brkay54 · 2024-10-02T09:12:29Z

@takayuki5168 san, sorry to bother you, also could you check this pr and assign someone to review it?

…NPCs (autowarefoundation#1129)" This reverts commit d91c508.

ahmeddesokyebrahim force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch 2 times, most recently from ed5a933 to 8869039 Compare September 2, 2024 04:46

ahmeddesokyebrahim changed the title ~~fix(static_obstacle_avoidance): improve avoidance for parked NPCs and moving NPCs in opposite direction~~ fix(static_obstacle_avoidance): improve avoidance for parked NPCs Sep 3, 2024

ahmeddesokyebrahim force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch from ccd0ae5 to 885e802 Compare September 3, 2024 12:39

ahmeddesokyebrahim marked this pull request as ready for review September 3, 2024 13:34

ahmeddesokyebrahim requested review from takayuki5168, rej55, satoshi-ota, shmpwk, danielsanchezaran, kyoichi-sugahara, zulfaqar-azmi-t4, go-sakayori, kosuke55, mkquda, maxime-clem, soblin and yhisaki as code owners September 3, 2024 13:34

ahmeddesokyebrahim self-assigned this Sep 3, 2024

brkay54 self-requested a review September 3, 2024 14:14

ahmeddesokyebrahim added the run:build-and-test-differential label Sep 9, 2024

brkay54 pushed a commit that referenced this pull request Sep 9, 2024

fix(static_obstacle_avoidance): lower hard margin for parked car to h…

c8063ff

…andle dense urban scenarios #1129

ahmeddesokyebrahim force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch from c5abbd4 to 9ef7c4e Compare September 9, 2024 15:59

ahmeddesokyebrahim mentioned this pull request Sep 10, 2024

[Dense-Urban-ODD] Improve avoidance for moving NPCs in same and opposite direction of ego driving autowarefoundation/autoware.universe#8739

Closed

6 tasks

beyzanurkaya force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch from 9ef7c4e to 471340a Compare September 18, 2024 09:48

beyzanurkaya requested a review from yuki-takagi-66 as a code owner September 18, 2024 09:48

beyzanurkaya self-assigned this Sep 18, 2024

beyzanurkaya force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch from e300f28 to 2751a8f Compare September 18, 2024 10:20

brkay54 pushed a commit that referenced this pull request Sep 18, 2024

fix(static_obstacle_avoidance): lower hard margin for parked car to h…

32f1a4f

…andle dense urban scenarios #1129 Signed-off-by: Ahmed Ebrahim <[email protected]> Signed-off-by: beyza <[email protected]>

beyzanurkaya force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch from 2751a8f to 1425b2e Compare September 22, 2024 18:49

beyzanurkaya linked an issue Sep 22, 2024 that may be closed by this pull request

[Dense-Urban-ODD] Improve avoidance for parked NPCs autowarefoundation/autoware.universe#8539

Closed

6 tasks

brkay54 pushed a commit that referenced this pull request Sep 30, 2024

fix(static_obstacle_avoidance): lower hard margin for parked car to h…

fdc6920

…andle dense urban scenarios #1129 Signed-off-by: Ahmed Ebrahim <[email protected]> Signed-off-by: beyza <[email protected]>

beyzanurkaya force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch from 5aa231a to 2333ff0 Compare September 30, 2024 17:22

brkay54 pushed a commit that referenced this pull request Oct 1, 2024

fix(static_obstacle_avoidance): lower hard margin for parked car to h…

601a5d1

…andle dense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]> Signed-off-by: beyza <[email protected]> #1129

brkay54 approved these changes Oct 1, 2024

View reviewed changes

Ahmed Ebrahim and others added 7 commits October 2, 2024 12:04

fix(static_obstacle_avoidance): lower hard margin for parked car to h…

f205a5e

…andle dense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>

fix(static_obstacle_avoidance): lower hard margin for parked car to h…

fc0bd9c

…andle dense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>

fix(static_obstacle_avoidance): lower hard margin for parked NPCs to …

c5fdcee

…handle dense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>

fix(static_obstacle_avoidance): lower max prep time to handle dense u…

19e2f75

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

fix(static_obstacle_avoidance): lower lateral soft margin to handle d…

1b2c625

…ense urban scenarios Signed-off-by: Ahmed Ebrahim <[email protected]>

fix(static_obstacle_avoidance): change jerk values to handle dense ur…

cb8a8c2

…ban scenarios Signed-off-by: beyza <[email protected]>

fix(static_obstacle_avoidance): lower longitudinal margin to handle d…

4cc4d26

…ense urban scenarios Signed-off-by: beyza <[email protected]>

beyzanurkaya force-pushed the autoware/launch/8539-fix-obstacle-avoidance-for-dense-urban-odd branch from 2333ff0 to 4cc4d26 Compare October 2, 2024 09:04

xmfcx unassigned ahmeddesokyebrahim Oct 4, 2024

xmfcx merged commit d91c508 into autowarefoundation:main Nov 26, 2024
11 checks passed

tier4-autoware-public-bot bot mentioned this pull request Nov 26, 2024

chore: sync awf-latest tier4/autoware_launch#688

Merged

go-sakayori added a commit to tier4/autoware_launch that referenced this pull request Nov 27, 2024

Revert "fix(static_obstacle_avoidance): improve avoidance for parked …

9a4809d

…NPCs (autowarefoundation#1129)" This reverts commit d91c508.

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fix(static_obstacle_avoidance): improve avoidance for parked NPCs #1129

fix(static_obstacle_avoidance): improve avoidance for parked NPCs #1129

ahmeddesokyebrahim commented Aug 20, 2024 •

edited by beyzanurkaya

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brkay54 commented Oct 2, 2024

fix(static_obstacle_avoidance): improve avoidance for parked NPCs #1129

fix(static_obstacle_avoidance): improve avoidance for parked NPCs #1129

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ahmeddesokyebrahim commented Aug 20, 2024 • edited by beyzanurkaya Loading

Description

Related links

Tests performed

Before this PR

UC-NTR-002-0002_case1 (second iteration when D = 20 m)

UC-NTR-002-0002_case1 (third iteration when D = 15 m)

UC-NTR-002-0002_case2 (second iteration when D = 20 m)

UC-NTR-002-0002_case2 (third iteration when D = 15 m)

After this PR

UC-NTR-002-0002_case1 (second iteration when D = 20 m)

UC-NTR-002-0002_case1 (third iteration when D = 15 m)

UC-NTR-002-0002_case2 (second iteration when D = 20 m)

UC-NTR-002-0002_case2 (third iteration when D = 15 m)

when dynamic_obstacle_avoidance is enable

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

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

brkay54 left a comment

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brkay54 commented Oct 2, 2024

ahmeddesokyebrahim commented Aug 20, 2024 •

edited by beyzanurkaya

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