PullOver/Out limitation and development plan

[kosuke55]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

pull_over/out modules have the following limitations.

• pull_over

  • Support parking on only road_shoulder
    

  • Cannot park on the road or in the same lane.

  • Cannot consider moving objects for safety judgment

• pull_out
  • Cannot start in cases requiring complicated maneuvering
  • Can only start from road_shoulder
  • Cannot start from the road or the same lane
  • Cannot consider moving objects for safety judgment

Purpose

solve these limitations and improve functionalies

Possible approaches

• pull_over

  • Support parking on both road and road_shoulder ->(deal this this patter with LC. pull over support only current road)

  • Implement a goal planner

    • Activate every time when near the goal
      • If goal adjustment is allowed: park at the side edge of the lane(like pull over)
      • If goal adjustment is not allowed: park at the given goal (like the current lane following)
        

  • work with MRM (Minimum Risk Maneuver)

    • Add pull over as MRM behavior #3221
    • also support rerouting when driving

  • Consider moving objects

• pull_out

  • Support starting from both road and road_shoulder
  • Implement a start planner
    • Activate every time at starting driving
    • Start towards the centerline or shift from the current lane to the desired lane
  • Consider moving objects
  • Use a free space planner for starting driving

Definition of done

Complete these implementations to resolve limitations and improve functionalies

[kosuke55]

Currently in pull_over, if an object exists on the lane and the vehicle is stuck, generate a path for avoiding objects using parking_lot as a drivable area. (use the same algorithms of https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planning_algorithms)

#2879

pull_over_freespace-2023-03-02_12.59.53.mp4

We will plan to develop the same feature also in pull_out

• pull_out
  • Use a free space planner for starting driving

[kosuke55]

this is the sample behavior of goal planner
the larger axis is the result of the modification.

allow_goal_modification-2023-04-12_22.33.18.mp4

from #3370 (review)

• This module determines the goal position according to Autoware's decision when goal modification is allowed.
  • To avoid obstacles
  • Refine the goal according to a certain policy (e.g. right-align, left-align)
• When the goal is not modified, it behaves as before.
  • Simply stop against the original goal by just lane following.

and the sample of right-align of goal planner

[kosuke55]

merged rough goal rviz plugin

autowarefoundation/autoware_launch#295

goal planner is under development, so if setting rough goal now, the goal will not be modified.

[kosuke55]

send goal planner PR #3454

Make pull_over execute when the vehicle is approaching the goal. (within minimum_request_length)

put goal in road

• 2D Goal Pose in road
  • modifyPathForSmoothGoalConnection (same as current lane following arrival path)
• 2D Rough Goal Pose in Road
  • pull over to the modified goal in road or road_shoulder with the select policy (e.g. parking left_side, right side)

check 2D Goal Pose and 2D Rough Goal Pose

goal_planner_fixed-2023-04-19_00.12.24.mp4

check planning to the fixed goal within minimum_request_length

goal_planner_fixed-2023-04-19_00.04.18.mp4

lane_change ->goal planner

goal_planner_fixed-2023-04-19_00.42.52.mp4

todo: need to execute lane_change and goal_planner wit new behavior path architecture to deal the situation the end of lane change is close to the goal. need

goal_planner_fixed-2023-04-19_00.44.25.mp4

[zjw77889]

Is the shoulder lane the same as the lane? What attribute settings are required to add shoulder lanes and can a map be provided that can pull over.

[zjw77889]

@kosuke55

[kosuke55]

@zjw77889
The type of the shoulder lane is lanelet so it is the same to the normal road lane, but the subtype is road_shoulder so it is different from road of the normal road lane. You can set the subtype using vector map builder or editting .osm file directly.
the sample map in https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/ also have road_shoulder and you can try pull_over here in the image

Or also you can use pull_over in normal road lane if you setting 2D Rough Goal Pose with rviz(the shortcut key is r). please refer to #3419

[zjw77889]

@kosuke55
Thank you very much for your reply, it has been very helpful to me.

[kosuke55]

pull_out

• Support starting from both road and road_shoulder
• Implement a start planner
  • Activate every time at starting driving
  • Start towards the centerline or shift from the current lane to the desired lane

was implemented in

• feat(pull_out): support pull out normal lane #3805
• refactor(start_planner): rename pull out to start planner #3908

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[kosuke55]

backward parking in narrow space

back_pull_over-2023-12-04_18.54.53.mp4

[kosuke55]

Free-space parking in complex object arrangements

goal_planner_freespace-2023-12-20_16.34.11.mp4

[kosuke55]

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

#5979

[kosuke55]

safety check #5677

[kosuke55]

MRM #5634
planning features have been merged.

pull-over-mrm-fhd.mp4

[kosuke55]

Development results

Support parking on both road and road_shoulder

goal_planner_fixed-2023-04-19_00.12.24.mp4

Implement a goal/start planner

see followings for the detail

• https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_goal_planner_module/
• https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_start_planner_module/

work with MRM (Minimum Risk Maneuver)

MRM #5634
planning features have been merged.

pull-over-mrm-fhd.mp4

Consider moving objects

Perform safer safety checks using polygons of the predicted footprint integrated over time.

auto

goal_planner_safer_safety_check-2023-11-21_23.00.50.mp4

rtc

goal_planner_safer_safety_check-2023-11-22_19.34.06.mp4

free space planner

Free-space parking in complex object arrangements

goal_planner_freespace-2023-12-20_16.34.11.mp4