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

Merged
merged 7 commits into from
Nov 26, 2024
Merged

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

merged 7 commits into from
Nov 26, 2024
+18 −18

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ahmeddesokyebrahim
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@ahmeddesokyebrahim ahmeddesokyebrahim commented Aug 20, 2024 •
edited by beyzanurkaya
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Description

Fixes :

Related links

Parent Issue :

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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  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
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  • 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.

@ahmeddesokyebrahim 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 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 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 ahmeddesokyebrahim marked this pull request as ready for review September 3, 2024 13:34
@ahmeddesokyebrahim ahmeddesokyebrahim self-assigned this Sep 3, 2024
@brkay54 brkay54 self-requested a review September 3, 2024 14:14
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 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 ahmeddesokyebrahim mentioned this pull request Sep 10, 2024
Closed
6 tasks
@beyzanurkaya 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 beyzanurkaya self-assigned this Sep 18, 2024
@beyzanurkaya 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 <ahmed.ebrahim@leodrive.ai>
Signed-off-by: beyza <bnk@leodrive.ai>
@beyzanurkaya 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 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 <ahmed.ebrahim@leodrive.ai>
Signed-off-by: beyza <bnk@leodrive.ai>
@beyzanurkaya 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 <ahmed.ebrahim@leodrive.ai>
Signed-off-by: beyza <bnk@leodrive.ai>
#1129
brkay54
brkay54 approved these changes Oct 1, 2024
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With this PR, static avoidance related scenarios have passed: AWF_Test_Report

Ahmed Ebrahim and others added 7 commits October 2, 2024 12:04
@beyzanurkaya
fix(static_obstacle_avoidance): lower hard margin for parked car to h…
f205a5e 
…andle dense urban scenarios

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
@beyzanurkaya
fix(static_obstacle_avoidance): lower hard margin for parked car to h…
fc0bd9c 
…andle dense urban scenarios

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
@beyzanurkaya
fix(static_obstacle_avoidance): lower hard margin for parked NPCs to …
c5fdcee 
…handle dense urban scenarios

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
@beyzanurkaya
fix(static_obstacle_avoidance): lower max prep time to handle dense u…
19e2f75 
…rban scenarios

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
@beyzanurkaya
fix(static_obstacle_avoidance): lower lateral soft margin to handle d…
1b2c625 
…ense urban scenarios

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>
@beyzanurkaya
fix(static_obstacle_avoidance): change jerk values to handle dense ur…
cb8a8c2 
…ban scenarios

Signed-off-by: beyza <bnk@leodrive.ai>
@beyzanurkaya
fix(static_obstacle_avoidance): lower longitudinal margin to handle d…
4cc4d26 
…ense urban scenarios

Signed-off-by: beyza <bnk@leodrive.ai>
@beyzanurkaya 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
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brkay54 commented Oct 2, 2024

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

@xmfcx xmfcx merged commit d91c508 into autowarefoundation:main Nov 26, 2024
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@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Nov 26, 2024
Merged
go-sakayori added a commit to tier4/autoware_launch that referenced this pull request Nov 27, 2024
@go-sakayori
Revert "fix(static_obstacle_avoidance): improve avoidance for parked …
9a4809d 
…NPCs (autowarefoundation#1129)"

This reverts commit d91c508.
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[Dense-Urban-ODD] Improve avoidance for parked NPCs
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