feat(intersection): publish and visualize the reason for dangerous situation to blame past detection fault retrospectively (autowarefoundation#6143)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

planning/behavior_velocity_intersection_module/CMakeLists.txt

@@ -12,6 +12,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/util.cpp
   src/scene_intersection.cpp
   src/intersection_lanelets.cpp
+  src/object_manager.cpp
+  src/decision_result.cpp
   src/scene_intersection_prepare_data.cpp
   src/scene_intersection_stuck.cpp
   src/scene_intersection_occlusion.cpp

planning/behavior_velocity_intersection_module/config/intersection.param.yaml

@@ -59,6 +59,8 @@
           object_expected_deceleration: 2.0
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
+        avoid_collision_by_acceleration:
+          object_time_margin_to_collision_point: 4.0
 
       occlusion:
         enable: false

planning/behavior_velocity_intersection_module/package.xml

@@ -22,18 +22,19 @@
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>behavior_velocity_planner_common</depend>
+  <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
   <depend>libopencv-dev</depend>
+  <depend>magic_enum</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>route_handler</depend>
   <depend>rtc_interface</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_api_msgs</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>vehicle_info_util</depend>

planning/behavior_velocity_intersection_module/src/debug.cpp

@@ -31,23 +31,21 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
-{
 namespace
 {
 using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::createMarkerColor;
 using tier4_autoware_utils::createMarkerOrientation;
 using tier4_autoware_utils::createMarkerScale;
 
-static visualization_msgs::msg::MarkerArray createLaneletPolygonsMarkerArray(
+visualization_msgs::msg::MarkerArray createLaneletPolygonsMarkerArray(
   const std::vector<lanelet::CompoundPolygon3d> & polygons, const std::string & ns,
   const int64_t lane_id, const double r, const double g, const double b)
 {
   visualization_msgs::msg::MarkerArray msg;
 
   int32_t i = 0;
-  int32_t uid = planning_utils::bitShift(lane_id);
+  int32_t uid = behavior_velocity_planner::planning_utils::bitShift(lane_id);
   for (const auto & polygon : polygons) {
     visualization_msgs::msg::Marker marker{};
     marker.header.frame_id = "map";
@@ -158,8 +156,59 @@ visualization_msgs::msg::MarkerArray createLineMarkerArray(
   return marker_point;
 }
 
+constexpr std::tuple<float, float, float> white()
+{
+  constexpr uint64_t code = 0xfdfdfd;
+  constexpr float r = static_cast<int>(code >> 16) / 255.0;
+  constexpr float g = static_cast<int>((code << 48) >> 56) / 255.0;
+  constexpr float b = static_cast<int>((code << 56) >> 56) / 255.0;
+  return {r, g, b};
+}
+
+constexpr std::tuple<float, float, float> green()
+{
+  constexpr uint64_t code = 0x5fa641;
+  constexpr float r = static_cast<int>(code >> 16) / 255.0;
+  constexpr float g = static_cast<int>((code << 48) >> 56) / 255.0;
+  constexpr float b = static_cast<int>((code << 56) >> 56) / 255.0;
+  return {r, g, b};
+}
+
+constexpr std::tuple<float, float, float> yellow()
+{
+  constexpr uint64_t code = 0xebce2b;
+  constexpr float r = static_cast<int>(code >> 16) / 255.0;
+  constexpr float g = static_cast<int>((code << 48) >> 56) / 255.0;
+  constexpr float b = static_cast<int>((code << 56) >> 56) / 255.0;
+  return {r, g, b};
+}
+
+constexpr std::tuple<float, float, float> red()
+{
+  constexpr uint64_t code = 0xba1c30;
+  constexpr float r = static_cast<int>(code >> 16) / 255.0;
+  constexpr float g = static_cast<int>((code << 48) >> 56) / 255.0;
+  constexpr float b = static_cast<int>((code << 56) >> 56) / 255.0;
+  return {r, g, b};
+}
+
+constexpr std::tuple<float, float, float> light_blue()
+{
+  constexpr uint64_t code = 0x96cde6;
+  constexpr float r = static_cast<int>(code >> 16) / 255.0;
+  constexpr float g = static_cast<int>((code << 48) >> 56) / 255.0;
+  constexpr float b = static_cast<int>((code << 56) >> 56) / 255.0;
+  return {r, g, b};
+}
 }  // namespace
 
+namespace behavior_velocity_planner
+{
+using tier4_autoware_utils::appendMarkerArray;
+using tier4_autoware_utils::createMarkerColor;
+using tier4_autoware_utils::createMarkerOrientation;
+using tier4_autoware_utils::createMarkerScale;
+
 visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray()
 {
   visualization_msgs::msg::MarkerArray debug_marker_array;
@@ -168,37 +217,37 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
 
   if (debug_data_.attention_area) {
     appendMarkerArray(
-      createLaneletPolygonsMarkerArray(
+      ::createLaneletPolygonsMarkerArray(
         debug_data_.attention_area.value(), "attention_area", lane_id_, 0.0, 1.0, 0.0),
       &debug_marker_array);
   }
 
   if (debug_data_.occlusion_attention_area) {
     appendMarkerArray(
-      createLaneletPolygonsMarkerArray(
+      ::createLaneletPolygonsMarkerArray(
         debug_data_.occlusion_attention_area.value(), "occlusion_attention_area", lane_id_, 0.917,
         0.568, 0.596),
       &debug_marker_array);
   }
 
   if (debug_data_.adjacent_area) {
     appendMarkerArray(
-      createLaneletPolygonsMarkerArray(
+      ::createLaneletPolygonsMarkerArray(
         debug_data_.adjacent_area.value(), "adjacent_area", lane_id_, 0.913, 0.639, 0.149),
       &debug_marker_array);
   }
 
   if (debug_data_.first_attention_area) {
     appendMarkerArray(
-      createLaneletPolygonsMarkerArray(
+      ::createLaneletPolygonsMarkerArray(
         {debug_data_.first_attention_area.value()}, "first_attention_area", lane_id_, 1, 0.647,
         0.0),
       &debug_marker_array, now);
   }
 
   if (debug_data_.second_attention_area) {
     appendMarkerArray(
-      createLaneletPolygonsMarkerArray(
+      ::createLaneletPolygonsMarkerArray(
         {debug_data_.second_attention_area.value()}, "second_attention_area", lane_id_, 1, 0.647,
         0.0),
       &debug_marker_array, now);
@@ -214,15 +263,15 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
 
   if (debug_data_.yield_stuck_detect_area) {
     appendMarkerArray(
-      createLaneletPolygonsMarkerArray(
+      ::createLaneletPolygonsMarkerArray(
         debug_data_.yield_stuck_detect_area.value(), "yield_stuck_detect_area", lane_id_, 0.6588235,
         0.34509, 0.6588235),
       &debug_marker_array);
   }
 
   if (debug_data_.ego_lane) {
     appendMarkerArray(
-      createLaneletPolygonsMarkerArray(
+      ::createLaneletPolygonsMarkerArray(
         {debug_data_.ego_lane.value()}, "ego_lane", lane_id_, 1, 0.647, 0.0),
       &debug_marker_array, now);
   }
@@ -235,59 +284,58 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
       &debug_marker_array, now);
   }
 
-  size_t i{0};
-  for (const auto & p : debug_data_.candidate_collision_object_polygons) {
-    appendMarkerArray(
-      debug::createPolygonMarkerArray(
-        p, "candidate_collision_object_polygons", lane_id_ + i++, now, 0.3, 0.0, 0.0, 0.0, 0.5,
-        0.5),
-      &debug_marker_array, now);
-  }
-
+  static constexpr auto white = ::white();
+  static constexpr auto green = ::green();
+  static constexpr auto yellow = ::yellow();
+  static constexpr auto red = ::red();
+  static constexpr auto light_blue = ::light_blue();
   appendMarkerArray(
     debug::createObjectsMarkerArray(
-      debug_data_.conflicting_targets, "conflicting_targets", module_id_, now, 0.99, 0.4, 0.0),
+      debug_data_.safe_under_traffic_control_targets, "safe_under_traffic_control_targets",
+      module_id_, now, std::get<0>(light_blue), std::get<1>(light_blue), std::get<2>(light_blue)),
     &debug_marker_array, now);
 
   appendMarkerArray(
     debug::createObjectsMarkerArray(
-      debug_data_.amber_ignore_targets, "amber_ignore_targets", module_id_, now, 0.0, 1.0, 0.0),
+      debug_data_.unsafe_targets, "unsafe_targets", module_id_, now, std::get<0>(green),
+      std::get<1>(green), std::get<2>(green)),
     &debug_marker_array, now);
 
   appendMarkerArray(
     debug::createObjectsMarkerArray(
-      debug_data_.red_overshoot_ignore_targets, "red_overshoot_ignore_targets", module_id_, now,
-      0.0, 1.0, 0.0),
+      debug_data_.misjudge_targets, "misjudge_targets", module_id_, now, std::get<0>(yellow),
+      std::get<1>(yellow), std::get<2>(yellow)),
     &debug_marker_array, now);
 
   appendMarkerArray(
     debug::createObjectsMarkerArray(
-      debug_data_.stuck_targets, "stuck_targets", module_id_, now, 0.99, 0.99, 0.2),
+      debug_data_.too_late_detect_targets, "too_late_detect_targets", module_id_, now,
+      std::get<0>(red), std::get<1>(red), std::get<2>(red)),
     &debug_marker_array, now);
 
   appendMarkerArray(
     debug::createObjectsMarkerArray(
-      debug_data_.yield_stuck_targets, "stuck_targets", module_id_, now, 0.4, 0.99, 0.2),
+      debug_data_.parked_targets, "parked_targets", module_id_, now, std::get<0>(white),
+      std::get<1>(white), std::get<2>(white)),
     &debug_marker_array, now);
 
   appendMarkerArray(
     debug::createObjectsMarkerArray(
-      debug_data_.blocking_attention_objects, "blocking_attention_objects", module_id_, now, 0.99,
-      0.99, 0.6),
+      debug_data_.stuck_targets, "stuck_targets", module_id_, now, std::get<0>(white),
+      std::get<1>(white), std::get<2>(white)),
     &debug_marker_array, now);
 
-  /*
   appendMarkerArray(
-    createPoseMarkerArray(
-      debug_data_.predicted_obj_pose, "predicted_obj_pose", module_id_, 0.7, 0.85, 0.9),
+    debug::createObjectsMarkerArray(
+      debug_data_.yield_stuck_targets, "yield_stuck_targets", module_id_, now, std::get<0>(white),
+      std::get<1>(white), std::get<2>(white)),
     &debug_marker_array, now);
-  */
 
   if (debug_data_.first_pass_judge_wall_pose) {
     const double r = debug_data_.passed_first_pass_judge ? 1.0 : 0.0;
     const double g = debug_data_.passed_first_pass_judge ? 0.0 : 1.0;
     appendMarkerArray(
-      createPoseMarkerArray(
+      ::createPoseMarkerArray(
         debug_data_.first_pass_judge_wall_pose.value(), "first_pass_judge_wall_pose", module_id_, r,
         g, 0.0),
       &debug_marker_array, now);
@@ -297,7 +345,7 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
     const double r = debug_data_.passed_second_pass_judge ? 1.0 : 0.0;
     const double g = debug_data_.passed_second_pass_judge ? 0.0 : 1.0;
     appendMarkerArray(
-      createPoseMarkerArray(
+      ::createPoseMarkerArray(
         debug_data_.second_pass_judge_wall_pose.value(), "second_pass_judge_wall_pose", module_id_,
         r, g, 0.0),
       &debug_marker_array, now);
@@ -314,7 +362,7 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
   if (debug_data_.nearest_occlusion_projection) {
     const auto [point_start, point_end] = debug_data_.nearest_occlusion_projection.value();
     appendMarkerArray(
-      createLineMarkerArray(
+      ::createLineMarkerArray(
         point_start, point_end, "nearest_occlusion_projection", lane_id_, 0.5, 0.5, 0.0),
       &debug_marker_array, now);
   }
@@ -369,11 +417,11 @@ visualization_msgs::msg::MarkerArray MergeFromPrivateRoadModule::createDebugMark
 
   const auto state = state_machine_.getState();
 
-  int32_t uid = planning_utils::bitShift(module_id_);
+  int32_t uid = behavior_velocity_planner::planning_utils::bitShift(module_id_);
   const auto now = this->clock_->now();
   if (state == StateMachine::State::STOP) {
     appendMarkerArray(
-      createPoseMarkerArray(debug_data_.stop_point_pose, "stop_point_pose", uid, 1.0, 0.0, 0.0),
+      ::createPoseMarkerArray(debug_data_.stop_point_pose, "stop_point_pose", uid, 1.0, 0.0, 0.0),
       &debug_marker_array, now);
   }
 

planning/behavior_velocity_intersection_module/src/decision_result.cpp

@@ -0,0 +1,65 @@
+// Copyright 2024 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "decision_result.hpp"
+
+namespace behavior_velocity_planner::intersection
+{
+std::string formatDecisionResult(const DecisionResult & decision_result)
+{
+  if (std::holds_alternative<InternalError>(decision_result)) {
+    const auto state = std::get<InternalError>(decision_result);
+    return "InternalError because " + state.error;
+  }
+  if (std::holds_alternative<OverPassJudge>(decision_result)) {
+    const auto state = std::get<OverPassJudge>(decision_result);
+    return "OverPassJudge:\nsafety_report:" + state.safety_report + "\nevasive_report:\n" +
+           state.evasive_report;
+  }
+  if (std::holds_alternative<StuckStop>(decision_result)) {
+    return "StuckStop";
+  }
+  if (std::holds_alternative<YieldStuckStop>(decision_result)) {
+    const auto state = std::get<YieldStuckStop>(decision_result);
+    return "YieldStuckStop:\nsafety_report:" + state.safety_report;
+  }
+  if (std::holds_alternative<NonOccludedCollisionStop>(decision_result)) {
+    const auto state = std::get<NonOccludedCollisionStop>(decision_result);
+    return "NonOccludedCollisionStop\nsafety_report:" + state.safety_report;
+  }
+  if (std::holds_alternative<FirstWaitBeforeOcclusion>(decision_result)) {
+    return "FirstWaitBeforeOcclusion";
+  }
+  if (std::holds_alternative<PeekingTowardOcclusion>(decision_result)) {
+    return "PeekingTowardOcclusion";
+  }
+  if (std::holds_alternative<OccludedCollisionStop>(decision_result)) {
+    const auto state = std::get<OccludedCollisionStop>(decision_result);
+    return "OccludedCollisionStop\nsafety_report:" + state.safety_report;
+  }
+  if (std::holds_alternative<OccludedAbsenceTrafficLight>(decision_result)) {
+    const auto state = std::get<OccludedAbsenceTrafficLight>(decision_result);
+    return "OccludedAbsenceTrafficLight\nsafety_report:" + state.safety_report;
+  }
+  if (std::holds_alternative<Safe>(decision_result)) {
+    return "Safe";
+  }
+  if (std::holds_alternative<FullyPrioritized>(decision_result)) {
+    const auto state = std::get<FullyPrioritized>(decision_result);
+    return "FullyPrioritized\nsafety_report:" + state.safety_report;
+  }
+  return "";
+}
+
+}  // namespace behavior_velocity_planner::intersection