perf(lane_change): rework object filter #6847

zulfaqar-azmi-t4 · 2024-04-18T12:48:29Z

Description

Lane change object filters checks for object's arc length from ego, and this time consuming process might be resource extensive if the number of object is huge.

To avoid this issue, the object filtering in lane change is improve, by first performing rough checks, by checking object current location and speed, and then remove if it is not fulfill the requirement.

The following will be the new logic for the object filtering

Tests performed

TIER IV Internal link

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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github-actions · 2024-04-19T09:15:13Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6847/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-6847/planning/behavior_path_lane_change_module/

shmpwk · 2024-04-23T03:06:34Z

planning/behavior_path_lane_change_module/src/scene.cpp

+    lane_change_debug_.current_lanes = current_lanes;
+    lane_change_debug_.target_lanes = target_lanes;
+
+    // TODO(Azu) change the type to std::vector<lanelet::ConstLanelet>


Still TODO?

Yes, this is debug topic, I need to fix debug marker, which I didn't prefer to do it in this PR.

Owen-Liuyuxuan

Thank you for your detailed documentation. I would love to have some more local tests.

shmpwk · 2024-04-23T10:32:52Z

The code looks good to me.

kyoichi-sugahara

LGTM for change related to start_planner module! Thanks fot the improvement of common function

zulfaqar-azmi-t4 · 2024-04-24T08:36:49Z

@Owen-Liuyuxuan

Thank you for your detailed documentation. I would love to have some more local tests.

Thank you for your comments, but may I know what do you mean by some more local tests?

planning/behavior_path_lane_change_module/src/scene.cpp

Owen-Liuyuxuan · 2024-04-26T01:36:01Z

@Owen-Liuyuxuan

Thank you for your detailed documentation. I would love to have some more local tests.

Thank you for your comments, but may I know what do you mean by some more local tests?

Sorry for the late reply, I was considering how to quantify the improvements with some current ROSBag. But I was blocked by some other tasks lately.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

satoshi-ota

@zulfaqar-azmi-t4 Looks good to me.

[imo] It' better to change PR title prefix refactor to perf...?

* refactor(lane_change): rework object filter Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Use preceeding lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * style(pre-commit): autofix * fix preceding lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Adds flow chart Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * prioritize on coming object check instead Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Fix flow chart and rearrange code to early return Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Colorize flow chart Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>

* refactor(lane_change): rework object filter Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Use preceeding lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * style(pre-commit): autofix * fix preceding lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Adds flow chart Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * prioritize on coming object check instead Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Fix flow chart and rearrange code to early return Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Colorize flow chart Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) type:documentation Creating or refining documentation. (auto-assigned) labels Apr 18, 2024

zulfaqar-azmi-t4 added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Apr 19, 2024

shmpwk assigned Owen-Liuyuxuan and shmpwk Apr 19, 2024

zulfaqar-azmi-t4 force-pushed the refactor-lc-object-filters branch from a083d14 to a050ce5 Compare April 22, 2024 09:30

zulfaqar-azmi-t4 marked this pull request as ready for review April 23, 2024 03:02

zulfaqar-azmi-t4 requested review from danielsanchezaran, kosuke55, kyoichi-sugahara, soblin, satoshi-ota, shmpwk, TomohitoAndo, tkimura4, rej55, maxime-clem, TakaHoribe and takayuki5168 as code owners April 23, 2024 03:02

shmpwk reviewed Apr 23, 2024

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zulfaqar-azmi-t4 force-pushed the refactor-lc-object-filters branch from a050ce5 to a6ac8eb Compare April 23, 2024 03:33

Owen-Liuyuxuan reviewed Apr 23, 2024

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kyoichi-sugahara approved these changes Apr 23, 2024

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kyoichi-sugahara reviewed Apr 24, 2024

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planning/behavior_path_lane_change_module/src/scene.cpp Outdated Show resolved Hide resolved

zulfaqar-azmi-t4 force-pushed the refactor-lc-object-filters branch from a6ac8eb to a957ada Compare April 26, 2024 05:12

refactor(lane_change): rework object filter

285065c

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 and others added 5 commits April 30, 2024 12:09

Use preceeding lanes

b0b0c37

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

style(pre-commit): autofix

5827865

fix preceding lanes

2ad4002

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Adds flow chart

d2d95de

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

prioritize on coming object check instead

3b1f443

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 force-pushed the refactor-lc-object-filters branch from b5e2ece to 3b1f443 Compare April 30, 2024 03:10

zulfaqar-azmi-t4 added 2 commits April 30, 2024 12:43

Fix flow chart and rearrange code to early return

8d54c99

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Colorize flow chart

b9c8419

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 assigned satoshi-ota Apr 30, 2024

satoshi-ota approved these changes Apr 30, 2024

View reviewed changes

zulfaqar-azmi-t4 changed the title ~~refactor(lane_change): rework object filter~~ perf(lane_change): rework object filter Apr 30, 2024

zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label May 7, 2024

zulfaqar-azmi-t4 enabled auto-merge (squash) May 7, 2024 04:52

zulfaqar-azmi-t4 merged commit 985b735 into autowarefoundation:main May 7, 2024
36 of 39 checks passed

zulfaqar-azmi-t4 deleted the refactor-lc-object-filters branch May 7, 2024 07:48

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perf(lane_change): rework object filter #6847

perf(lane_change): rework object filter #6847

zulfaqar-azmi-t4 commented Apr 18, 2024 •

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perf(lane_change): rework object filter #6847

perf(lane_change): rework object filter #6847

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zulfaqar-azmi-t4 commented Apr 18, 2024 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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