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.

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.
The PR has been properly tested.
The PR has been reviewed by the code owners.

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.
The PR is ready for merge.

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

…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?

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 tag:run-build-and-test-differential label Sep 9, 2024

brkay54 added 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

Open

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 added 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

Open

6 tasks

brkay54 added 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 added 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

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

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

Loading

brkay54 left a comment

brkay54 commented Oct 2, 2024

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

Are you sure you want to change the base?

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

Conversation

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

Choose a reason for hiding this comment

brkay54 commented Oct 2, 2024

ahmeddesokyebrahim commented Aug 20, 2024 •

edited by beyzanurkaya

Loading