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feat(safety_check): add option to use polygon along path in safety check #6336
feat(safety_check): add option to use polygon along path in safety check #6336
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Thank you @satoshi-ota for the great PR! Just checking cap-.2024-02-15-22-35-24.mp4 |
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Hmm... No. Something wrong. I'll take a look. Thanks for your review! @zulfaqar-azmi-t4 |
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
This is my image.
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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@zulfaqar-azmi-t4 I fixed wierd polygon shape in c42fa54. |
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LGTM. The behavior looks good!
cap-.2024-02-16-16-42-18.mp4
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6336 +/- ##
==========================================
- Coverage 14.99% 14.99% -0.01%
==========================================
Files 1839 1839
Lines 127158 127218 +60
Branches 38099 38140 +41
==========================================
+ Hits 19070 19077 +7
- Misses 86755 86802 +47
- Partials 21333 21339 +6
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
…eck (autowarefoundation#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…eck (autowarefoundation#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…eck (autowarefoundation#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…eck (#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
…eck (autowarefoundation#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…eck (autowarefoundation#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…eck (autowarefoundation#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…eck (autowarefoundation#6336) * feat(safety_check): add new function to create polygon along path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): use free steer policy for safety check Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix polygon edge Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(safety_check): fix param name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Description
autowarefoundation/autoware_launch#865
Current
safety_checker
assumes that steering angle is fixed during braking and creates rectangle polygon to check safety based on each predicted poses. However, basically it is able to change steering angle anytime. Additionally, previous logic sometimes caused false positive and modules judged unsafe excessively because the detection polygon covered not only adjacent lane but also the area where the ego wouldn't go through.In this PR, I added option to switch steering policy during breaking from
fixed
orfree
.steering policy:
fixed
In this policy, the safety checker creates rectangle polygon based on each predicted poses. (original method)
steering policy:
free
In this policy, the safety checker creates polygon along path. Polygon's longitudinal length is calculated by rss parameter.
Tests performed
Effects on system behavior
Improve avoidance behavior.
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