feat(obstacle_stop_planner): improve chattering prevention mechanism #2647

satoshi-ota · 2023-01-13T01:29:47Z

Description

Before

the module only keep the info that whether there are obstacel points or not.
chattering stop position

simplescreenrecorder-2023-01-13_10.09.23.mp4

After

the module also keep the history of the obstacle points' position and detection time.
not chattering stop position

simplescreenrecorder-2023-01-13_10.16.35.mp4

TEST

Please set hunting_threshold to positive value (> 0).

hunting_threshold: 0.5                   # even if the obstacle disappears, the stop judgment continues for hunting_threshold [s]

https://github.com/autowarefoundation/autoware_launch/blob/9ef2b6939d8aa276c909a6513f401ffc4301cce6/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml#L3

Evaluator Result

[TIER IV INTERNAL LINK] This PR(822/825)
[TIER IV INTERNAL LINK] Baseline(820/825)

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taikitanaka3 · 2023-01-13T01:49:07Z

@h-ohta
could you review this PR?

planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp

codecov · 2023-01-13T01:53:48Z

Codecov Report

Base: 11.38% // Head: 11.34% // Decreases project coverage by -0.04% ⚠️

Coverage data is based on head (736aa0b) compared to base (9e3e3a0).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2647      +/-   ##
==========================================
- Coverage   11.38%   11.34%   -0.04%     
==========================================
  Files        1277     1278       +1     
  Lines       89267    89555     +288     
  Branches    23641    23641              
==========================================
  Hits        10160    10160              
- Misses      68336    68624     +288     
  Partials    10771    10771

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`11.38% <0.00%> (ø)`		Carriedforward from 9e3e3a0

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

Impacted Files	Coverage Δ
...top_planner/include/obstacle_stop_planner/node.hpp	`0.00% <0.00%> (ø)`
...lanning/obstacle_stop_planner/src/debug_marker.cpp	`0.00% <ø> (ø)`
planning/obstacle_stop_planner/src/node.cpp	`0.00% <0.00%> (ø)`

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planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…utowarefoundation#2647) * fix(obstacle_stop_planner): hunting prevention Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): remove old hunting prevention mechanism Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix logic Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): use struct Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): init target stop pose Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix constructor Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): hunting -> chattering Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…utowarefoundation#2647) * fix(obstacle_stop_planner): hunting prevention Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): remove old hunting prevention mechanism Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix logic Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): use struct Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): init target stop pose Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix constructor Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): hunting -> chattering Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

…utowarefoundation#2647) * fix(obstacle_stop_planner): hunting prevention Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): remove old hunting prevention mechanism Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix logic Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): use struct Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): init target stop pose Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix constructor Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): hunting -> chattering Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>

* Adapted from PR #1458 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR autowarefoundation#1627 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * fix parameter name Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR autowarefoundation#2647 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * ci(pre-commit): autofix * fix build error * ci(pre-commit): autofix * remove comment line * remove logic * Delete parameters other than those added this time * ci(pre-commit): autofix * add stop vehicle check * ci(pre-commit): autofix * fix stop velocity threshold * fix engage obstacle clear and stop threshold * ci(pre-commit): autofix --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768) fix(system_monitor): extend command line to display (autowarefoundation#4553) Signed-off-by: ito-san <fumihito.ito@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> * feat(behavior_path_planner): resample output path (backport autowarefoundation#1604) (#782) feat(behavior_path_planner): resample output path (autowarefoundation#1604) * feat(behavior_path_planner): resample output path * update param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> * ci: add dispatch-push-event workflow (#803) * ci: add dispatch-push-event workflow Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix: change APP KEY Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: use strategy Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: change trigger Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * pre-commit fixes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * Update .github/workflows/dispatch-push-event.yaml * Update .github/workflows/dispatch-push-event.yaml * style(pre-commit): autofix * Update .github/workflows/dispatch-push-event.yaml --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909) * fix(behavior_path): only apply spline interpolate for output, not for turn_signal processing * fix implementation * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(behavior_path): fix base points vanishing and inconsistent lane_ids on the spline interpolated path (#929) * add base points to resampled path in behavior_path * Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)" This reverts commit c80c986. * ci(pre-commit): autofix * fix insert * fix: not interpolate behavior velocity path * Revert "Revert "fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing (#909)"" This reverts commit e6dd540. --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995) * perf(system_monitor): fix program command line reading (autowarefoundation#5191) * Fix program command line reading Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix * fix spelling commandline->command_line Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): output command line (autowarefoundation#5430) * fix(system_monitor): output command line Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Akihisa Nagata <54956813+asa-naki@users.noreply.github.com> * feat(obstacle_stop): upd obstacle hunting (#1068) * Adapted from PR #1458 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR autowarefoundation#1627 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * fix parameter name Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR autowarefoundation#2647 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * ci(pre-commit): autofix * fix build error * ci(pre-commit): autofix * remove comment line * remove logic * Delete parameters other than those added this time * ci(pre-commit): autofix * add stop vehicle check * ci(pre-commit): autofix * fix stop velocity threshold * fix engage obstacle clear and stop threshold * ci(pre-commit): autofix --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(obstacle_avoidance_planner): add empty check (#1285) * fix(obstacle_avoidance_planner): add empty check * ci(pre-commit): autofix * add invalid_argument * delete empty check * return code moved to end * add warning log * update rclcpp_debug * delete debug log * Delete unnecessary blank lines --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(virtual traffic light): suppress lauch (#1290) * suppress launch Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add existence check Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> * revert: #929,#909,#782 * revert: #1068 - d56c191. --------- Signed-off-by: ito-san <fumihito.ito@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yuxuan Liu <619684051@qq.com> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com> Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>

satoshi-ota requested review from shmpwk, taikitanaka3, tkimura4 and a team as code owners January 13, 2023 01:29

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 13, 2023

satoshi-ota requested a review from h-ohta January 13, 2023 01:32

satoshi-ota force-pushed the fix/hunting-prevention branch from d425b70 to 9bedade Compare January 13, 2023 01:33

h-ohta reviewed Jan 13, 2023

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planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp Outdated Show resolved Hide resolved

satoshi-ota force-pushed the fix/hunting-prevention branch from 36fa37a to 39ad6e2 Compare January 16, 2023 00:57

h-ohta reviewed Jan 16, 2023

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planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp Outdated Show resolved Hide resolved

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jan 19, 2023

satoshi-ota added 7 commits January 19, 2023 13:22

fix(obstacle_stop_planner): hunting prevention

1269bee

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

fix(obstacle_stop_planner): remove old hunting prevention mechanism

c7f11fb

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

fix(obstacle_stop_planner): fix logic

a0127c1

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

fix(obstacle_stop_planner): use struct

9c0bc1a

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

fix(obstacle_stop_planner): init target stop pose

95b87ba

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

fix(obstacle_stop_planner): fix constructor

a28f00c

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

fix(obstacle_stop_planner): hunting -> chattering

736aa0b

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota mentioned this pull request Jan 19, 2023

fix(planning_launch): rename parameter for obstacle stop planner tier4/autoware_launch-old#711

Merged

8 tasks

satoshi-ota force-pushed the fix/hunting-prevention branch from d014755 to 736aa0b Compare January 19, 2023 04:50

satoshi-ota mentioned this pull request Jan 19, 2023

fix(obstacle_stop_planner): rename param for obstacle stop planner autowarefoundation/autoware_launch#174

Merged

4 tasks

satoshi-ota changed the title ~~feat(obstacle_stop_planner): improve hunting prevention mechanism~~ feat(obstacle_stop_planner): improve chattering prevention mechanism Jan 19, 2023

h-ohta approved these changes Jan 19, 2023

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satoshi-ota enabled auto-merge (squash) January 23, 2023 01:06

taikitanaka3 approved these changes Jan 23, 2023

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satoshi-ota merged commit e64860a into autowarefoundation:main Jan 23, 2023

satoshi-ota deleted the fix/hunting-prevention branch January 23, 2023 01:09

tier4-autoware-public-bot bot mentioned this pull request Jan 24, 2023

chore: sync upstream tier4/autoware.universe#254

Merged

lchojnack mentioned this pull request Feb 13, 2023

fix(obstacle_stop_planner): add checking of point height #2296

Merged

4 tasks

sfukuta pushed a commit to tier4/autoware.universe that referenced this pull request Aug 2, 2023

Adapted from PR autowarefoundation#2647

d3b9ae9

Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>

sfukuta mentioned this pull request Aug 18, 2023

feat(obstacle_stop): upd obstacle hunting tier4/autoware.universe#733

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sfukuta mentioned this pull request Dec 12, 2023

feat(obstacle_stop): upd obstacle hunting tier4/autoware.universe#1068

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feat(obstacle_stop_planner): improve chattering prevention mechanism #2647

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feat(obstacle_stop_planner): improve chattering prevention mechanism #2647

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