From 440a5ed3f0cc59121374ee093656b9b79a36d616 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 14 Mar 2024 20:02:03 +0900 Subject: [PATCH 1/8] update purpose section Signed-off-by: Yuki Takagi --- .../README.md | 20 ++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index 5e8be9136886c..648be7a66a19a 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -1,13 +1,23 @@ # Dynamic avoidance design +This module is under development. + ## Purpose / Role -This is a module designed for avoiding obstacles which are running. -Static obstacles such as parked vehicles are dealt with by the avoidance module. +This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the obstacle_avoidance module. +Each module performs the following roles. +Dynamic Avoidance module: This module cuts off the drivable area according to the position and velocity of the target to be avoided. +Obstacle Avoidance module: This module modifies the path to be followed so that it fits within the drivable area received. -This module is under development. -In the current implementation, the dynamic obstacles to avoid is extracted from the drivable area. -Then the motion planner, in detail obstacle_avoidance_planner, will generate an avoiding trajectory. +Avoidance functions are also provided by the Avoidance module, which allows avoidance through the outside of own lanes but not against moving objects. +On the other hand, this module can avoid moving objects. +For this reason, the word "dynamic" is used in its name. +The table below lists the avoidance modules that can be used for each situation. + +| | avoid within the own lane | avoid through the outside of own lanes | +| :----------------------- | :------------------------------------------------------------------------: | :------------------------------------: | +| avoid not-moving objects | Avoidance Module
Dynamic Avoidance Module + Obstacle Avoidance Module | Avoidance Module | +| avoid moving objects | Dynamic Avoidance Module + Obstacle Avoidance Module | No Module (Under Development) | ## Overview of drivable area modification From fb2a141a30de73fb5c13849f685ae93aca4b6b86 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Thu, 14 Mar 2024 20:43:21 +0900 Subject: [PATCH 2/8] add sections Signed-off-by: Yuki Takagi --- planning/behavior_path_dynamic_avoidance_module/README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index 648be7a66a19a..c0d4ea3511731 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -19,7 +19,7 @@ The table below lists the avoidance modules that can be used for each situation. | avoid not-moving objects | Avoidance Module
Dynamic Avoidance Module + Obstacle Avoidance Module | Avoidance Module | | avoid moving objects | Dynamic Avoidance Module + Obstacle Avoidance Module | No Module (Under Development) | -## Overview of drivable area modification +## Algorithms ### Filtering obstacles to avoid @@ -53,6 +53,10 @@ Same directional obstacles Opposite directional obstacles ![opposite_directional_object](./image/opposite_directional_object.svg) +## Example + +## Future works + ## Parameters | Name | Unit | Type | Description | Default value | From 4951cd1cb9200bffcf27074480492d215135c83b Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 18 Mar 2024 13:27:24 +0900 Subject: [PATCH 3/8] upadate continue Signed-off-by: Yuki Takagi --- .../README.md | 35 +++++++++++++++++-- 1 file changed, 33 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index c0d4ea3511731..b392c0199f62c 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -19,9 +19,32 @@ The table below lists the avoidance modules that can be used for each situation. | avoid not-moving objects | Avoidance Module
Dynamic Avoidance Module + Obstacle Avoidance Module | Avoidance Module | | avoid moving objects | Dynamic Avoidance Module + Obstacle Avoidance Module | No Module (Under Development) | -## Algorithms +## Policy of Algorithms +Here, we describe the policy of inner algorithms. +The inner algorithms can be separated into two parts: The first decide whether to avoid the obstacles and the second cuts off the drivable area against the corresponding obstacle. +If you are interested in more details, please see the code itself. + +### Select obstacles to avoid + +To decide whether to avoid an object, both the predicted path and the state (poes and twist) of each object are used. +The type of objects the user wants this module to avoid is also required. +Using this information, the module makes a decision to "avoid" objects that "obstruct own passage" and "can be avoided". + +As logics for determining whether an object is an obstacle or not, the followings are implemented. +- longtitudinal speed +- 経路に近い 干渉する +- 干渉する時刻が遠すぎると決断を先延ばしにする +- カットアウト + + +避けられるか否か + 交差 lateral speed + 干渉する時刻が近すぎると回避は諦める + 横G横ジャークの制約をみたして避けられるか + カットイン + +どうよけるか 右 左? -### Filtering obstacles to avoid The dynamics obstacles meeting the following condition will be avoided. @@ -31,6 +54,9 @@ The dynamics obstacles meeting the following condition will be avoided. ### Drivable area modification +交差物体を右か左どちらによけるか + + To realize dynamic obstacles for avoidance, the time dimension should be take into an account considering the dynamics. However, it will make the planning problem much harder to solve. Therefore, we project the time dimension to the 2D pose dimension. @@ -55,8 +81,13 @@ Opposite directional obstacles ## Example + ## Future works +歩行者の回避 +より大きな回避幅での回避 + + ## Parameters | Name | Unit | Type | Description | Default value | From 505692effa142c0cd4236e4edfa2a48cbca859cc Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 18 Mar 2024 18:36:52 +0900 Subject: [PATCH 4/8] update doc Signed-off-by: Yuki Takagi --- .../README.md | 90 +++++++++---------- 1 file changed, 45 insertions(+), 45 deletions(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index b392c0199f62c..dfb26d79f5a51 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -1,9 +1,7 @@ # Dynamic avoidance design - This module is under development. ## Purpose / Role - This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the obstacle_avoidance module. Each module performs the following roles. Dynamic Avoidance module: This module cuts off the drivable area according to the position and velocity of the target to be avoided. @@ -19,76 +17,78 @@ The table below lists the avoidance modules that can be used for each situation. | avoid not-moving objects | Avoidance Module
Dynamic Avoidance Module + Obstacle Avoidance Module | Avoidance Module | | avoid moving objects | Dynamic Avoidance Module + Obstacle Avoidance Module | No Module (Under Development) | -## Policy of Algorithms +## Policy of algorithms Here, we describe the policy of inner algorithms. The inner algorithms can be separated into two parts: The first decide whether to avoid the obstacles and the second cuts off the drivable area against the corresponding obstacle. If you are interested in more details, please see the code itself. ### Select obstacles to avoid - To decide whether to avoid an object, both the predicted path and the state (poes and twist) of each object are used. The type of objects the user wants this module to avoid is also required. -Using this information, the module makes a decision to "avoid" objects that "obstruct own passage" and "can be avoided". - -As logics for determining whether an object is an obstacle or not, the followings are implemented. -- longtitudinal speed -- 経路に近い 干渉する -- 干渉する時刻が遠すぎると決断を先延ばしにする -- カットアウト - - -避けられるか否か - 交差 lateral speed - 干渉する時刻が近すぎると回避は諦める - 横G横ジャークの制約をみたして避けられるか - カットイン - -どうよけるか 右 左? - - -The dynamics obstacles meeting the following condition will be avoided. - -- The type is designated as `target_object.*`. -- The norm of the obstacle's velocity projected to the ego's path is smaller than `target_object.min_obstacle_vel`. -- The obstacle is in the next lane to the ego's lane, which will not cut-into the ego's lane according to the highest-prioritized predicted path. +Using this information, the module decides to *avoid* objects that *obstruct the ego's passage* and *can be avoided*. -### Drivable area modification +The definition of *obstruct own passage* is implemented as the object that collides within seconds. +This process wastes computational cost by doing it for all objects; thus, filtering by the relative position and speed of the object with respect to the ego's path is also done as an auxiliary process. +The other, *can be avoided* denotes whether it can be avoided without risk to passengers or other vehicles. +For this purpose, it is judged whether the obstacle can be avoided by satisfying the constraints of lateral acceleration and lateral jerk. +For example, the modeule decides not to avoid an object that is too close or fast in the lateral direction because it cannot be avoided. -交差物体を右か左どちらによけるか +### Cuts off the drivable area against the selected obstacles +For the selected obstacles to be avoided, the module cuts off the drivable area. +As inputs to decide the shapes of cut-off polygons, poses of the obstacles are mainly used, assuming they move in parallel to the ego's path, instead of its predicted path. +This design arises from that the predicted path of objects is not accurate enough to use the path modifications (at least currently). +Furthermore, the output drivable area shape is designed as a rectangular cutout along the ego's path to make the computation scalar rather than planar. - -To realize dynamic obstacles for avoidance, the time dimension should be take into an account considering the dynamics. -However, it will make the planning problem much harder to solve. -Therefore, we project the time dimension to the 2D pose dimension. - -Currently, the predicted paths of predicted objects are not so stable. -Therefore, instead of using the predicted paths, we assume that the obstacle will run parallel to the ego's path. - -First, a maximum lateral offset to avoid is calculated as follows. -The polygon's width to extract from the drivable area is the obstacle width and double `drivable_area_generation.lat_offset_from_obstacle`. -We can limit the lateral shift offset by `drivable_area_generation.max_lat_offset_to_avoid`. +#### Determination of lateral dimension +Lateral dimensions of the polygon is calculated as follows. +The polygon's width to extract from the drivable area is the obstacle width and `drivable_area_generation.lat_offset_from_obstacle`. +We can limit the lateral shift length by `drivable_area_generation.max_lat_offset_to_avoid`. ![drivable_area_extraction_width](./image/drivable_area_extraction_width.drawio.svg) + +#### Determination of longtitudinal dimension Then, extracting the same directional and opposite directional obstacles from the drivable area will work as follows considering TTC (time to collision). + Regarding the same directional obstacles, obstacles whose TTC is negative will be ignored (e.g. The obstacle is in front of the ego, and the obstacle's velocity is larger than the ego's velocity.). -Same directional obstacles +Same directional obstacles (Parameter names may differ from implementation) ![same_directional_object](./image/same_directional_object.svg) -Opposite directional obstacles +Opposite directional obstacles (Parameter names may differ from implementation) ![opposite_directional_object](./image/opposite_directional_object.svg) ## Example +
+ +
Avoidance for the depaturing bus
+
-## Future works +
+ +
Avoidance on curve
+
-歩行者の回避 -より大きな回避幅での回避 +
+ +
Avoidance against the opposite direction vehicle
+
+
+ +
Avoidance for multiple vehicle
+
+ +## Future works +Currently, the path shifting length is limited to 0.5 meters or less by `drivable_area_generation.max_lat_offset_to_avoid`. +This is caused by the lack of functionality to work with other modules and the structure of the planning component. +Due to this issue, this module can only handle situations where a small avoidance width is sufficient. +This issue is the most significant for this module. +In addition, the ability of this module to extend the drivable area as needed is also required. ## Parameters +Under development | Name | Unit | Type | Description | Default value | | :-------------------------------------------------------------------- | :---- | :----- | :--------------------------------------------------------- | :------------ | From 57d7098fa711a88c4efca79188ed19addedc929e Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 18 Mar 2024 18:46:54 +0900 Subject: [PATCH 5/8] fix spell Signed-off-by: Yuki Takagi --- planning/behavior_path_dynamic_avoidance_module/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index dfb26d79f5a51..c492f499e40bc 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -23,7 +23,7 @@ The inner algorithms can be separated into two parts: The first decide whether t If you are interested in more details, please see the code itself. ### Select obstacles to avoid -To decide whether to avoid an object, both the predicted path and the state (poes and twist) of each object are used. +To decide whether to avoid an object, both the predicted path and the state (pose and twist) of each object are used. The type of objects the user wants this module to avoid is also required. Using this information, the module decides to *avoid* objects that *obstruct the ego's passage* and *can be avoided*. @@ -31,7 +31,7 @@ The definition of *obstruct own passage* is implemented as the object that colli This process wastes computational cost by doing it for all objects; thus, filtering by the relative position and speed of the object with respect to the ego's path is also done as an auxiliary process. The other, *can be avoided* denotes whether it can be avoided without risk to passengers or other vehicles. For this purpose, it is judged whether the obstacle can be avoided by satisfying the constraints of lateral acceleration and lateral jerk. -For example, the modeule decides not to avoid an object that is too close or fast in the lateral direction because it cannot be avoided. +For example, the module decides not to avoid an object that is too close or fast in the lateral direction because it cannot be avoided. ### Cuts off the drivable area against the selected obstacles For the selected obstacles to be avoided, the module cuts off the drivable area. @@ -47,7 +47,7 @@ We can limit the lateral shift length by `drivable_area_generation.max_lat_offse ![drivable_area_extraction_width](./image/drivable_area_extraction_width.drawio.svg) -#### Determination of longtitudinal dimension +#### Determination of longitudinal dimension Then, extracting the same directional and opposite directional obstacles from the drivable area will work as follows considering TTC (time to collision). Regarding the same directional obstacles, obstacles whose TTC is negative will be ignored (e.g. The obstacle is in front of the ego, and the obstacle's velocity is larger than the ego's velocity.). @@ -61,7 +61,7 @@ Opposite directional obstacles (Parameter names may differ from implementation) ## Example
-
Avoidance for the depaturing bus
+
Avoidance for the bus depature
From d7c6c9f1400b421247152e8217e1d55d6e3d4cc9 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 18 Mar 2024 19:09:10 +0900 Subject: [PATCH 6/8] apply lint Signed-off-by: Yuki Takagi --- .../README.md | 20 +++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index c492f499e40bc..23c5d33b5aa0c 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -1,7 +1,9 @@ # Dynamic avoidance design + This module is under development. ## Purpose / Role + This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the obstacle_avoidance module. Each module performs the following roles. Dynamic Avoidance module: This module cuts off the drivable area according to the position and velocity of the target to be avoided. @@ -18,36 +20,40 @@ The table below lists the avoidance modules that can be used for each situation. | avoid moving objects | Dynamic Avoidance Module + Obstacle Avoidance Module | No Module (Under Development) | ## Policy of algorithms + Here, we describe the policy of inner algorithms. The inner algorithms can be separated into two parts: The first decide whether to avoid the obstacles and the second cuts off the drivable area against the corresponding obstacle. If you are interested in more details, please see the code itself. ### Select obstacles to avoid + To decide whether to avoid an object, both the predicted path and the state (pose and twist) of each object are used. The type of objects the user wants this module to avoid is also required. -Using this information, the module decides to *avoid* objects that *obstruct the ego's passage* and *can be avoided*. +Using this information, the module decides to _avoid_ objects that _obstruct the ego's passage_ and _can be avoided_. -The definition of *obstruct own passage* is implemented as the object that collides within seconds. +The definition of _obstruct own passage_ is implemented as the object that collides within seconds. This process wastes computational cost by doing it for all objects; thus, filtering by the relative position and speed of the object with respect to the ego's path is also done as an auxiliary process. -The other, *can be avoided* denotes whether it can be avoided without risk to passengers or other vehicles. +The other, _can be avoided_ denotes whether it can be avoided without risk to passengers or other vehicles. For this purpose, it is judged whether the obstacle can be avoided by satisfying the constraints of lateral acceleration and lateral jerk. For example, the module decides not to avoid an object that is too close or fast in the lateral direction because it cannot be avoided. ### Cuts off the drivable area against the selected obstacles + For the selected obstacles to be avoided, the module cuts off the drivable area. As inputs to decide the shapes of cut-off polygons, poses of the obstacles are mainly used, assuming they move in parallel to the ego's path, instead of its predicted path. This design arises from that the predicted path of objects is not accurate enough to use the path modifications (at least currently). Furthermore, the output drivable area shape is designed as a rectangular cutout along the ego's path to make the computation scalar rather than planar. #### Determination of lateral dimension + Lateral dimensions of the polygon is calculated as follows. The polygon's width to extract from the drivable area is the obstacle width and `drivable_area_generation.lat_offset_from_obstacle`. We can limit the lateral shift length by `drivable_area_generation.max_lat_offset_to_avoid`. ![drivable_area_extraction_width](./image/drivable_area_extraction_width.drawio.svg) - #### Determination of longitudinal dimension + Then, extracting the same directional and opposite directional obstacles from the drivable area will work as follows considering TTC (time to collision). Regarding the same directional obstacles, obstacles whose TTC is negative will be ignored (e.g. The obstacle is in front of the ego, and the obstacle's velocity is larger than the ego's velocity.). @@ -59,13 +65,13 @@ Opposite directional obstacles (Parameter names may differ from implementation) ![opposite_directional_object](./image/opposite_directional_object.svg) ## Example +
Avoidance for the bus depature
- -
+
Avoidance on curve
@@ -81,6 +87,7 @@ Opposite directional obstacles (Parameter names may differ from implementation)
## Future works + Currently, the path shifting length is limited to 0.5 meters or less by `drivable_area_generation.max_lat_offset_to_avoid`. This is caused by the lack of functionality to work with other modules and the structure of the planning component. Due to this issue, this module can only handle situations where a small avoidance width is sufficient. @@ -88,6 +95,7 @@ This issue is the most significant for this module. 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Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 18 Mar 2024 20:22:22 +0900 Subject: [PATCH 8/8] fix spell Signed-off-by: Yuki Takagi --- planning/behavior_path_dynamic_avoidance_module/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index 23c5d33b5aa0c..10276db0efab2 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -68,7 +68,7 @@ Opposite directional obstacles (Parameter names may differ from implementation)

-
Avoidance for the bus depature
+
Avoidance for the bus departure