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fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs #1170

Merged
merged 2 commits into from
Nov 26, 2024
Merged

fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs #1170

merged 2 commits into from
Nov 26, 2024

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beyzanurkaya
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@beyzanurkaya beyzanurkaya commented Sep 18, 2024 •
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Description

Fixes :

Related links

Parent Issue :

Tests performed

when dynamic_obstacle_avoidance is enable

NTR-002-0001-case1.-.Passed.all.cases.mp4
NTR-002-0001-case2.-.Passed.all.cases.mp4

Interface changes

ROS Parameter Changes

Parameter Name Updated Value Update Description
lat_offset_from_obstacle 0.3 lower lateral offset to avoid moving NPCs in narrow road
margin_distance_around_pedestrian 0.8 lower lateral offset to for pedestrian
end_time_to_consider 1.0 lower end_time_to_consider

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@beyzanurkaya beyzanurkaya self-assigned this Sep 18, 2024
@beyzanurkaya beyzanurkaya added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Sep 18, 2024
@github-actions github-actions bot removed the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Sep 18, 2024
@brkay54 brkay54 self-requested a review September 18, 2024 18:51
brkay54 pushed a commit that referenced this pull request Sep 18, 2024
@beyzanurkaya @brkay54
fix(dynamic_obtacle_avoidance): lower lateral ofset to handle dense u…
34ebfa7 
…rban scenarios

#1170
Signed-off-by: beyza <[email protected]>
@beyzanurkaya beyzanurkaya force-pushed the fix-dynamic-obstacle-avoidance-for-dense-urban-odd branch from 10c95fa to 1b7f738 Compare September 22, 2024 18:49
@beyzanurkaya beyzanurkaya added component:planning Route planning, decision-making, and navigation. (auto-assigned) tag:run-build-and-test-differential labels Sep 22, 2024
@beyzanurkaya beyzanurkaya linked an issue Sep 22, 2024 that may be closed by this pull request
[Dense-Urban-ODD] Improve avoidance for moving NPCs in same and opposite direction of ego driving autowarefoundation/autoware.universe#8739
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@beyzanurkaya beyzanurkaya force-pushed the fix-dynamic-obstacle-avoidance-for-dense-urban-odd branch from 1b7f738 to ed273a0 Compare September 29, 2024 11:54
@github-actions github-actions bot removed the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Sep 29, 2024
@beyzanurkaya beyzanurkaya force-pushed the fix-dynamic-obstacle-avoidance-for-dense-urban-odd branch from ed273a0 to f060c23 Compare September 29, 2024 11:55
brkay54 added a commit that referenced this pull request Sep 30, 2024
@brkay54
fix(dynamic_obtacle_avoidance): lower lateral offset to handle dense …
6e7c56d 
…urban scenarios

Signed-off-by: beyza <[email protected]>
#1170
@beyzanurkaya beyzanurkaya force-pushed the fix-dynamic-obstacle-avoidance-for-dense-urban-odd branch 3 times, most recently from 0f7a87d to 7e2063d Compare September 30, 2024 17:21
brkay54 added a commit that referenced this pull request Oct 1, 2024
@brkay54
fix(dynamic_obtacle_avoidance): lower lateral offset to handle dense …
16eb832 
…urban scenarios

Signed-off-by: beyza <[email protected]>
#1170
brkay54
brkay54 approved these changes Oct 1, 2024
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With this PR, dynamic avoidance related scenarios have passed: AWF_Test_Report

@beyzanurkaya beyzanurkaya force-pushed the fix-dynamic-obstacle-avoidance-for-dense-urban-odd branch from 7e2063d to c7713ab Compare October 2, 2024 09:04
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brkay54 commented Oct 2, 2024

@takayuki5168 san, could you check this PR when you are available or can you assign someone to review?

yuki-takagi-66
yuki-takagi-66 reviewed Oct 2, 2024
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I feel these parameters are acceptable only the velocity is sufficient slow.
I suggest to apply this change to your fork branch.
As another option I request to relax the value so that there is no problem even at 40 km/h.

@beyzanurkaya
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I feel these parameters are acceptable only the velocity is sufficient slow. I suggest to apply this change to your fork branch. As another option I request to relax the value so that there is no problem even at 40 km/h.

Thank you for comment @yuki-takagi-66 -san. Is this comment valid for all 3 modified values ​​or do you have doubts about any of them specifically?

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In this scenario, NPC's velocity is 40 km/h but still passing

2024-10-02.16-09-00.mp4

@xmfcx xmfcx merged commit e14b2c8 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
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go-sakayori added a commit to tier4/autoware_launch that referenced this pull request Nov 27, 2024
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Revert "fix(dynamic_obstacle_avoidance): improve avoidance for moving…
cf5cdb7 
… NPCs (autowarefoundation#1170)"

This reverts commit e14b2c8.
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[Dense-Urban-ODD] Improve avoidance for moving NPCs in same and opposite direction of ego driving
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