[Dense-Urban-ODD] Improve avoidance for moving NPCs in same and opposite direction of ego driving

[ahmeddesokyebrahim]

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

Part of:

• [Autoware Labs] Dense Urban ODD - Reviewing and Tracking Failed Scenarios #7485

Dense Urban ODD Characteristics

• Low-Speed Driving: Typical speeds around 15 km/h.
• Complex Traffic Elements: Includes dense traffic with various dynamic interactions.
• Dynamic Agents: Frequent encounters with moving pedestrians and cyclists.
• Bidirectional Movement: Vehicles operate in lanes supporting bidirectional flow.
• Traffic Rule Non-compliance: Other road users may exhibit behaviors such as:
  • Driving in the wrong direction.
  • Cutting in unexpectedly from off-road areas.
  • Jaywalking pedestrians.
  • Improper overtaking by drivers.
  • Moving NPCs in side of the lane either in same or opposite direction of driving

In the context of Dense Urban ODD, we need to fine-tune the existing features of the autoware_behavior_path_dynamic_obstacle_avoidance_module and potentially develop new features to better avoid moving NPCs in dense urban areas.

Purpose

Moving NPC in the same direction of ego "UC-NTR-002-0001" "2nd and 3rd iterations"

The following image describes the scenario where

Moving NPC in opposite direction "UC-NTR-002-0003"

Possible approaches

The autoware_behavior_path_dynamic_obstacle_avoidance_module should be capable of handling the situations mentioned above.

• The primary goal will be to tune the parameters of the package to achieve the success of above scenarios.
• If tuning the parameters is not enough for having successful scenarios, the autoware_behavior_path_dynamic_obstacle_avoidance_module implementation should be improved.

Definition of done

Definition of done

• Create a proposal for changing parameters.
• If the package is inadequate to handle scenarios, propose improvements.
• Ensure all scenarios for Dense Urban ODD pass.

[mitsudome-r]

@ahmeddesokyebrahim handles the static objects, and @beyzanurkaya will be working on the dynamic obstacle handling.

[ahmeddesokyebrahim]

@ahmeddesokyebrahim handles the static objects, and @beyzanurkaya will be working on the dynamic obstacle handling.

@mitsudome-r -san :
The static obstacle cases are handled in this issue and PR

[stale]

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