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feat(traffic_light_arbiter): add signal match validator #6423
feat(traffic_light_arbiter): add signal match validator #6423
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Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6423 +/- ##
==========================================
- Coverage 14.99% 14.98% -0.02%
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Files 1838 1840 +2
Lines 127099 127192 +93
Branches 38075 38065 -10
==========================================
Hits 19062 19062
- Misses 86715 86808 +93
Partials 21322 21322
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
perception/traffic_light_arbiter/src/signal_match_validator.cpp
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perception/traffic_light_arbiter/src/signal_match_validator.cpp
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Only nits that can be ignored.
LGTM !
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
perception/traffic_light_arbiter/src/signal_match_validator.cpp
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@TomohitoAndo |
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
@knzo25 |
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LGTM!
Thank you for your review! 🙇 |
…dation#6423) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
…dation#6423) (#1152) Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
…dation#6423) * feat(traffic_light_arbiter): add signal match validator Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add an explanation of signal match validator to readme Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update readme Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * style(pre-commit): autofix * fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use std::copy instead of std::transform Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use unordered_map to reduce calculation cost Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid using `signal` because it is used in std::signal Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* feat(traffic_light_arbiter): add signal match validator Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add an explanation of signal match validator to readme Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update readme Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * style(pre-commit): autofix * fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use std::copy instead of std::transform Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use unordered_map to reduce calculation cost Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid using `signal` because it is used in std::signal Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
…dation#6423) * feat(traffic_light_arbiter): add signal match validator Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * add an explanation of signal match validator to readme Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * update readme Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * style(pre-commit): autofix * fix comments Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use std::copy instead of std::transform Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * use unordered_map to reduce calculation cost Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * avoid using `signal` because it is used in std::signal Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Description
I added the signal match validator, which validate the match between perception signals and external signals and publish the received color only when they are identical.
This feature aims to enhance safety when both perception and external sources are available. It can be enabled by setting enable_signal_matching to true, though it is set to false by default.
Please see the Readme.md for the details.
Related Links
Tests performed
I conducted tests using the rosbag simulator. Please note that the Traffic Light Monitor Panel was specifically created for this testing and has not yet been merged into autoware.universe.
signal_matching_test.mp4
In this case, ego vehicle stops at the traffic light that has the ID of
1002
.Effects on system behavior
This feature is disabled by default.
If this is enabled, this validates the match between perception signals and external signals and publish the received color only when they are identical.
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.