feat(lane_change): reduce prepare duration when blinker has been activated #9185

mkquda · 2024-10-30T05:28:00Z

Description

Currently, a constant prepare duration (parameterized) is being used when generating LC path candidates, this was necessary because until recently turn signal was activated only after LC path was approved.

However, LC turn signal logic was recently changed to activate as soon as we have the intention to change lanes (i.e: when LC module is run). Therefore it is no longer necessary to have a constant long prepare duration, and we can reduce the prepare duration as the turn signal on duration increases.

Changes

Add member variable signal_activation_time_ to LaneChangeBase class
Add member variable lane_change_prepare_duration to TransientData struct
Add function calc_actual_prepare_duration to calculate actual needed prepare duration based on current velocity and signal on duration
Modify function update_transient_data to set lane_change_prepare_duration

How was this PR tested?

PSIM
TIER IV Internal Evaluation

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	`min_prepare_duration`	`double`	`1.0`	Minimum preparation time for the ego vehicle to be ready to perform lane change
Added	`lane_changing_decel_factor`	`double`	`0.5`	longitudinal deceleration factor during lane changing phase

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	`prepare_duration`	`double`	`4.0`	Preparation time for the ego vehicle to be ready to perform lane change
New	`max_prepare_duration`	`double`	`4.0`	Maximum preparation time for the ego vehicle to be ready to perform lane change

Effects on system behavior

When LC module activates, initially prepare duration will be max, as signal activation duration increases, prepare duration will be gradually reduced to minimum, allowing a shorter LC path to be found.

Signed-off-by: mohammad alqudah <[email protected]>

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github-actions · 2024-10-30T05:28:21Z

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… predictor (autowarefoundation#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: grouping parameters Signed-off-by: Taekjin LEE <[email protected]> * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE <[email protected]> * refactor: separate util functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE <[email protected]> * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE <[email protected]> * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…er (autowarefoundation#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda <[email protected]> * Added Copyright Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed cast style Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda <[email protected]> * Added cspell:ignore Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed miss spell Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Renamed applyFilter Signed-off-by: Shintaro Sakoda <[email protected]> * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to pass by reference Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…ndation#9177) Signed-off-by: Mamoru Sobue <[email protected]>

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…transient data Signed-off-by: mohammad alqudah <[email protected]>

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Signed-off-by: mohammad alqudah <[email protected]>

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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp

...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp

Signed-off-by: mohammad alqudah <[email protected]>

...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp

Signed-off-by: mohammad alqudah <[email protected]>

…nge_module/README.md Co-authored-by: Maxime CLEMENT <[email protected]>

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…ion' into RT1-8204-reduce-prepare-duration-when-blinker-has-been-activated Signed-off-by: mohammad alqudah <[email protected]>

Signed-off-by: mohammad alqudah <[email protected]>

…ion' into RT1-8204-reduce-prepare-duration-when-blinker-has-been-activated

Signed-off-by: mohammad alqudah <[email protected]>

…nge_module/README.md Co-authored-by: Maxime CLEMENT <[email protected]>

Signed-off-by: mohammad alqudah <[email protected]>

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…vated (autowarefoundation#9185) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah <[email protected]> * reduce prepare duration according to signal activation time Signed-off-by: mohammad alqudah <[email protected]> * chore: update CODEOWNERS (autowarefoundation#9203) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <[email protected]> * refactor(time_utils): prefix package and namespace with autoware (autowarefoundation#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <[email protected]> * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(rtc_interface): add requested field (autowarefoundation#9202) * add requested feature Signed-off-by: Go Sakayori <[email protected]> * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (autowarefoundation#9199) Signed-off-by: Maxime CLEMENT <[email protected]> * fix(bpp): prevent accessing nullopt (autowarefoundation#9204) fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi <[email protected]> * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (autowarefoundation#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: grouping parameters Signed-off-by: Taekjin LEE <[email protected]> * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE <[email protected]> * refactor: separate util functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE <[email protected]> * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE <[email protected]> * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (autowarefoundation#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda <[email protected]> * Added Copyright Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed cast style Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda <[email protected]> * Added cspell:ignore Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed miss spell Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Renamed applyFilter Signed-off-by: Shintaro Sakoda <[email protected]> * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to pass by reference Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_test_utils): add traffic light msgs parser (autowarefoundation#9177) Signed-off-by: Mamoru Sobue <[email protected]> * modify implementation to compute and keep actual prepare duration in transient data Signed-off-by: mohammad alqudah <[email protected]> * if LC path is approved, set prepare duration in transient data from approved path prepare duration Signed-off-by: mohammad alqudah <[email protected]> * change default value of LC param min_prepare_duration Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * add function to set signal activation time, add docstring for function calc_actual_prepare_duration Signed-off-by: mohammad alqudah <[email protected]> * check for zero value max_acc to avoid division by zero Signed-off-by: mohammad alqudah <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix units Signed-off-by: mohammad alqudah <[email protected]> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <[email protected]> * run pre-commit check Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix format Signed-off-by: mohammad alqudah <[email protected]> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <[email protected]> * run pre-commit check Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix format Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: Esteve Fernandez <[email protected]> Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Shumpei Wakabayashi <[email protected]> Signed-off-by: Taekjin LEE <[email protected]> Signed-off-by: Shintaro Sakoda <[email protected]> Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: github-actions <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Go Sakayori <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: Taekjin LEE <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: tomoya.kimura <[email protected]>

mkquda added 4 commits October 25, 2024 16:35

add minimum prepare duration parameter

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reduce prepare duration according to signal activation time

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Merge branch 'awf-latest' into RT1-8204-reduce-prepare-duration-when-…

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fix(mpc_lateral_controller): correctly resample the MPC trajectory ya…

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…ws (autowarefoundation#9199) Signed-off-by: Maxime CLEMENT <[email protected]>

fix(bpp): prevent accessing nullopt (autowarefoundation#9204)

092f5ae

fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi <[email protected]>

feat(autoware_test_utils): add traffic light msgs parser (autowarefou…

9d4b5b4

…ndation#9177) Signed-off-by: Mamoru Sobue <[email protected]>

Merge branch 'awf-latest' into RT1-8204-reduce-prepare-duration-when-…

79009b6

…blinker-has-been-activated

modify implementation to compute and keep actual prepare duration in …

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…transient data Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-8204-reduce-prepare-duration-when-…

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mkquda requested review from zulfaqar-azmi-t4 and maxime-clem November 29, 2024 07:41

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fix spelling

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allow decelerating in lane changing phase near terminal

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Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…

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fix format

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Merge branch 'RT1-8751-improve-computation-of-lane-changing-accelerat…

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allow decelerating in lane changing phase near terminal

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Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…

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revert(CODEOWNERS): revert accidental rename #9605

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feat(lane_change): reduce prepare duration when blinker has been activated #9185

feat(lane_change): reduce prepare duration when blinker has been activated #9185

mkquda commented Oct 30, 2024 •

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feat(lane_change): reduce prepare duration when blinker has been activated #9185

feat(lane_change): reduce prepare duration when blinker has been activated #9185

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mkquda commented Oct 30, 2024 • edited Loading

Description

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Notes for reviewers

Interface changes

ROS Parameter Changes

Additions and removals

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