feat(control_validator): measure predicted path deviation from trajectory #4549

kyoichi-sugahara · 2023-08-07T22:00:37Z

Description

Add feature of control validator.
The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.

should be merged with this PR

Tests performed

PASS TIER IV INTERNAL SCENAIROS

Effects on system behavior

Not applicable.

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…tory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…tory

codecov · 2023-08-12T16:57:08Z

Codecov Report

Patch coverage has no change and project coverage change: -0.19% ⚠️

Comparison is base (bf400db) 14.98% compared to head (b37274a) 14.79%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4549      +/-   ##
==========================================
- Coverage   14.98%   14.79%   -0.19%     
==========================================
  Files        1530     1533       +3     
  Lines      105991   105765     -226     
  Branches    32602    32122     -480     
==========================================
- Hits        15883    15651     -232     
- Misses      72800    73010     +210     
+ Partials    17308    17104     -204

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`14.82% <ø> (-0.17%)`	⬇️	Carriedforward from ea87c5f

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

Files Changed	Coverage Δ
...lidator/include/control_validator/debug_marker.hpp	`0.00% <0.00%> (ø)`
...ontrol/control_validator/src/control_validator.cpp	`0.00% <0.00%> (ø)`
control/control_validator/src/debug_marker.cpp	`0.00% <0.00%> (ø)`
control/control_validator/src/utils.cpp	`0.00% <0.00%> (ø)`
...er/src/scene_module/avoidance/avoidance_module.cpp	`12.10% <ø> (-0.07%)`	⬇️

... and 36 files with indirect coverage changes

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

control/control_validator/CMakeLists.txt

control/control_validator/include/control_validator/utils.hpp

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…tory

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…tory

…tory (autowarefoundation#4549) * add feature for getting predicted path deviation from trajectory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix for build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix topic name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * cut off extra length on predicted path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * minor refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change function name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add control validator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * add max_deviation calculation Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * update launch Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * change maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * feat(dynamic_avoidance): object polygon based drivable area generation (autowarefoundation#4598) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update README Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply clang-tidy check Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Update control/control_validator/include/control_validator/utils.hpp Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug code Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add maintainer Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

kyoichi-sugahara added 11 commits August 2, 2023 16:22

add feature for getting predicted path deviation from trajectory

8224cbc

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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…tory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix for build success

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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…tory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix topic name

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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temp

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temp

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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…tory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

cut off extra length on predicted path

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

cut off extra length on predicted path

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:evaluator Evaluation tools for planning, localization etc. (auto-assigned) labels Aug 7, 2023

pre-commit-ci bot and others added 8 commits August 7, 2023 22:02

style(pre-commit): autofix

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Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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minor refactor

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

change function name

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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…tory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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…tory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

add control validator

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

github-actions bot added the component:control Vehicle control algorithms and mechanisms. (auto-assigned) label Aug 11, 2023

pre-commit-ci bot and others added 5 commits August 11, 2023 11:23

style(pre-commit): autofix

1d228de

add max_deviation calculation

e7f54c1

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

refactor

bded71c

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

style(pre-commit): autofix

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update launch

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Aug 11, 2023

pre-commit-ci bot and others added 2 commits August 11, 2023 17:25

style(pre-commit): autofix

57d7beb

change maintainer

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

kyoichi-sugahara added 3 commits August 12, 2023 20:44

update README

c81dae1

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix typo

f47a9b0

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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github-actions bot removed the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 12, 2023

kyoichi-sugahara marked this pull request as ready for review August 12, 2023 16:49

kyoichi-sugahara requested review from TakaHoribe and takayuki5168 as code owners August 12, 2023 16:49

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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kyoichi-sugahara added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 12, 2023

apply clang-tidy check

c6472a3

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

TakaHoribe reviewed Aug 13, 2023

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kyoichi-sugahara and others added 3 commits August 13, 2023 12:33

Update control/control_validator/include/control_validator/utils.hpp

ce200a5

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

remove debug code

eb0cf23

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

0a2ca40

…tory

kyoichi-sugahara requested a review from mkuri August 14, 2023 05:50

add maintainer

ea87c5f

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

TakaHoribe self-requested a review August 15, 2023 02:08

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Merge branch 'main' into feature/predicted_path_deviation_from_trajec…

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…tory

kyoichi-sugahara added run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) and removed run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Aug 15, 2023

kyoichi-sugahara merged commit ba8e22e into autowarefoundation:main Aug 15, 2023

tier4-autoware-public-bot bot mentioned this pull request Aug 16, 2023

chore: sync upstream tier4/autoware.universe#730

Merged

This was referenced Aug 18, 2023

ci: reverting control ignorance #4662

Merged

feat: ignore host tag in svg tier4/autoware-spell-check-dict#607

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kyoichi-sugahara deleted the feature/predicted_path_deviation_from_trajectory branch September 27, 2023 10:28

kosuke55 mentioned this pull request Dec 12, 2023

feat(system_error_monitor): aggregate control validator diagnostics #5843

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feat(control_validator): measure predicted path deviation from trajectory #4549

feat(control_validator): measure predicted path deviation from trajectory #4549

kyoichi-sugahara commented Aug 7, 2023 •

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feat(control_validator): measure predicted path deviation from trajectory #4549

feat(control_validator): measure predicted path deviation from trajectory #4549

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kyoichi-sugahara commented Aug 7, 2023 • edited Loading

Description

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

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kyoichi-sugahara commented Aug 7, 2023 •

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