Skip to content

Commit

Permalink
correct parameters description
Browse files Browse the repository at this point in the history 
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
  • Loading branch information
@mkquda
mkquda committed Mar 10, 2025
1 parent 40170c4 commit 59371c8
Show file tree
Hide file tree
Showing 3 changed files with 37 additions and 32 deletions.
46 changes: 23 additions & 23 deletions ...behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,29 +32,29 @@ Currently, when clipping left bound or right bound, it can clip the bound more t

### Dynamic expansion

| Name | Unit | Type | Description | Default value |
| :------------------------------------------- | :---- | :----------- | :------------------------------------------------------------------------------------------------------ | :--------------------------- |
| enabled | [-] | boolean | if true, dynamically expand the drivable area based on the path curvature | true |
| print_runtime | [-] | boolean | if true, runtime is logged by the node | true |
| max_expansion_distance | [m] | double | maximum distance by which the original drivable area can be expanded (no limit if set to 0) | 0.0 |
| smoothing.curvature_average_window | [-] | int | window size used for smoothing the curvatures using a moving window average | 3 |
| smoothing.max_bound_rate | [m/m] | double | maximum rate of change of the bound lateral distance over its arc length | 1.0 |
| smoothing.arc_length_range | [m] | double | arc length range where an expansion distance is initially applied | 2.0 |
| ego.extra_wheel_base | [m] | double | extra ego wheelbase | 0.0 |
| ego.extra_front_overhang | [m] | double | extra ego overhang | 0.5 |
| ego.extra_width | [m] | double | extra ego width | 1.0 |
| object_exclusion.exclude_static | [-] | boolean | if true, the drivable area is not expanded over static objects | true |
| object_exclusion.exclude_dynamic | [-] | boolean | if true, the drivable area is not expanded in the predicted path of dynamic objects | true |
| object_exclusion.th_stopped_object_velocity | [m/s] | double | extra length to add to the front of the ego footprint | 0.5 |
| object_exclusion.safety_margin.front | [m] | double | extra length to add to the front of the ego footprint | 0.5 |
| object_exclusion.safety_margin.rear | [m] | double | extra length to add to the rear of the ego footprint | 0.5 |
| object_exclusion.safety_margin.left | [m] | double | extra length to add to the left of the ego footprint | 0.5 |
| object_exclusion.safety_margin.right | [m] | double | extra length to add to the right of the ego footprint | 0.5 |
| path_preprocessing.max_arc_length | [m] | double | maximum arc length along the path where the ego footprint is projected (0.0 means no limit) | 100.0 |
| path_preprocessing.resample_interval | [m] | double | fixed interval between resampled path points (0.0 means path points are directly used) | 2.0 |
| path_preprocessing.reuse_max_deviation | [m] | double | if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused | 0.5 |
| avoid_linestring.types | [-] | string array | linestring types in the lanelet maps that will not be crossed when expanding the drivable area | ["road_border", "curbstone"] |
| avoid_linestring.distance | [m] | double | distance to keep between the drivable area and the linestrings to avoid | 0.0 |
| Name | Unit | Type | Description | Default value |
| :------------------------------------------ | :---- | :----------- | :------------------------------------------------------------------------------------------------------ | :--------------------------- |
| enabled | [-] | boolean | if true, dynamically expand the drivable area based on the path curvature | true |
| print_runtime | [-] | boolean | if true, runtime is logged by the node | true |
| max_expansion_distance | [m] | double | maximum distance by which the original drivable area can be expanded (no limit if set to 0) | 0.0 |
| smoothing.curvature_average_window | [-] | int | window size used for smoothing the curvatures using a moving window average | 3 |
| smoothing.max_bound_rate | [m/m] | double | maximum rate of change of the bound lateral distance over its arc length | 1.0 |
| smoothing.arc_length_range | [m] | double | arc length range where an expansion distance is initially applied | 2.0 |
| ego.extra_wheel_base | [m] | double | extra ego wheelbase | 0.0 |
| ego.extra_front_overhang | [m] | double | extra ego overhang | 0.5 |
| ego.extra_width | [m] | double | extra ego width | 1.0 |
| object_exclusion.exclude_static | [-] | boolean | if true, the drivable area is not expanded over static objects | true |
| object_exclusion.exclude_dynamic | [-] | boolean | if true, the drivable area is not expanded in the predicted path of dynamic objects | true |
| object_exclusion.th_stopped_object_velocity | [m/s] | double | velocity threshold for static objects | 1.0 |
| object_exclusion.safety_margin.front | [m] | double | extra length to add to the front of the object footprint | 0.75 |
| object_exclusion.safety_margin.rear | [m] | double | extra length to add to the rear of the object footprint | 0.75 |
| object_exclusion.safety_margin.left | [m] | double | extra length to add to the left of the object footprint | 0.75 |
| object_exclusion.safety_margin.right | [m] | double | extra length to add to the right of the object footprint | 0.75 |
| path_preprocessing.max_arc_length | [m] | double | maximum arc length along the path where the ego footprint is projected (0.0 means no limit) | 100.0 |
| path_preprocessing.resample_interval | [m] | double | fixed interval between resampled path points (0.0 means path points are directly used) | 2.0 |
| path_preprocessing.reuse_max_deviation | [m] | double | if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused | 0.5 |
| avoid_linestring.types | [-] | string array | linestring types in the lanelet maps that will not be crossed when expanding the drivable area | ["road_border", "curbstone"] |
| avoid_linestring.distance | [m] | double | distance to keep between the drivable area and the linestrings to avoid | 0.0 |

## Inner-workings / Algorithms

Expand Down
9 changes: 6 additions & 3 deletions ...nclude/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,10 @@ struct DrivableAreaExpansionParameters
"dynamic_expansion.path_preprocessing.max_arc_length";
static constexpr auto MAX_REUSE_DEVIATION_PARAM =
"dynamic_expansion.path_preprocessing.reuse_max_deviation";
static constexpr auto AVOID_STA_OBJECTS_PARAM = "dynamic_expansion.object_exclusion.exclude_static";
static constexpr auto AVOID_DYN_OBJECTS_PARAM = "dynamic_expansion.object_exclusion.exclude_dynamic";
static constexpr auto AVOID_STA_OBJECTS_PARAM =
"dynamic_expansion.object_exclusion.exclude_static";
static constexpr auto AVOID_DYN_OBJECTS_PARAM =
"dynamic_expansion.object_exclusion.exclude_dynamic";
static constexpr auto AVOID_LINESTRING_TYPES_PARAM = "dynamic_expansion.avoid_linestring.types";
static constexpr auto AVOID_LINESTRING_DIST_PARAM = "dynamic_expansion.avoid_linestring.distance";
static constexpr auto SMOOTHING_CURVATURE_WINDOW_PARAM =
Expand Down Expand Up @@ -83,7 +85,8 @@ struct DrivableAreaExpansionParameters
double min_bound_interval{};
bool print_runtime{};

struct ObjectExclusion{
struct ObjectExclusion
{
bool exclude_static{};
bool exclude_dynamic{};
double front_offset{};
Expand Down
14 changes: 8 additions & 6 deletions ...er/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
#include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp"

#include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp"

#include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"

#include <autoware_utils/geometry/boost_polygon_utils.hpp>
Expand Down Expand Up @@ -74,11 +73,14 @@ MultiPolygon2d create_object_footprints(
continue;
}

if (params.object_exclusion.exclude_static && velocity_filter(
object.kinematics.initial_twist_with_covariance.twist, -std::numeric_limits<double>::epsilon(),
params.object_exclusion.stopped_obj_vel_th)) {
footprints.push_back(create_footprint(object.kinematics.initial_pose_with_covariance.pose, base_footprint));
}
if (
params.object_exclusion.exclude_static &&
velocity_filter(
object.kinematics.initial_twist_with_covariance.twist,

Check warning on line 79 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp

View check run for this annotation

Codecov / codecov/patch

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp#L78-L79 

Added lines #L78 - L79 were not covered by tests
-std::numeric_limits<double>::epsilon(), params.object_exclusion.stopped_obj_vel_th)) {
footprints.push_back(

Check warning on line 81 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp

View check run for this annotation

Codecov / codecov/patch

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp#L81 

Added line #L81 was not covered by tests
create_footprint(object.kinematics.initial_pose_with_covariance.pose, base_footprint));

Check warning on line 82 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

create_object_footprints has a cyclomatic complexity of 10, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
}
}
return footprints;
}
Expand Down

0 comments on commit 59371c8

Please sign in to comment.