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docs(avoidance): update parameter names (#4294)
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refactor(avoidance): update parameter names

Signed-off-by: satoshi-ota <[email protected]>
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satoshi-ota authored Jul 18, 2023
1 parent 881f734 commit 2dbb2a6
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8 changes: 5 additions & 3 deletions planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
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Expand Up @@ -11,16 +11,18 @@

# avoidance module common setting
enable_bound_clipping: false
enable_avoidance_over_same_direction: true
enable_avoidance_over_opposite_direction: true
enable_update_path_when_object_is_gone: false
enable_force_avoidance_for_stopped_vehicle: false
enable_safety_check: true
enable_yield_maneuver: true
enable_yield_maneuver_during_shifting: false
disable_path_update: false
use_hatched_road_markings: false

# drivable area setting
use_adjacent_lane: true
use_opposite_lane: true
use_intersection_areas: false
use_hatched_road_markings: false

# for debug
publish_debug_marker: false
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74 changes: 57 additions & 17 deletions planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md
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Expand Up @@ -265,7 +265,7 @@ The shift length is set as a constant value before the feature is implemented. S
- The obstacles' current lane and position.
- The road shoulder with reference to the direction to avoid.

These elements are used to compute the distance from the object to the road's shoulder (`to_road_shoulder_distance`). The parameters `enable_avoidance_over_same_direction` and `enable_avoidance_over_opposite_direction` allows further configuration of the to `to_road_shoulder_distance`. The following image illustrates the configuration.
These elements are used to compute the distance from the object to the road's shoulder (`to_road_shoulder_distance`). The parameters `use_adjacent_lane` and `use_opposite_lane` allows further configuration of the to `to_road_shoulder_distance`. The following image illustrates the configuration.

![obstacle_to_road_shoulder_distance](../image/avoidance/obstacle_to_road_shoulder_distance.drawio.svg)

Expand Down Expand Up @@ -451,6 +451,38 @@ The shift points are modified by a filtering process in order to get the expecte

## Other features

### Drivable area expansion

This module has following parameters that sets which areas the path may extend into when generating an avoidance path.

```yaml
# drivable area setting
use_adjacent_lane: true
use_opposite_lane: true
use_intersection_areas: false
use_hatched_road_markings: false
```

#### adjacent lane

![fig1](../image/avoidance/use_adjacent_lane.svg)

#### opposite lane

![fig1](../image/avoidance/use_opposite_lane.svg)

#### intersection areas

The intersection area is defined on Lanelet map. See [here](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md)

![fig1](../image/avoidance/use_intersection_areas.svg)

#### hatched road markings

The hatched road marking is defined on Lanelet map. See [here](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md#hatched-road-markings-area)

![fig1](../image/avoidance/use_hatched_road_markings.svg)

### Safety check

The avoidance module has a safety check logic. The result of safe check is used for yield maneuver. It is enable by setting `enable_safety_check` as `true`.
Expand Down Expand Up @@ -582,24 +614,32 @@ The avoidance specific parameter configuration file can be located at `src/autow

namespace: `avoidance.`

| Name | Unit | Type | Description | Default value |
| :--------------------------------------- | :--- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| resample_interval_for_planning | [m] | double | Path resample interval for avoidance planning path. | 0.3 |
| resample_interval_for_output | [m] | double | Path resample interval for output path. Too short interval increases computational cost for latter modules. | 4.0 |
| detection_area_right_expand_dist | [m] | double | Lanelet expand length for right side to find avoidance target vehicles. | 0.0 |
| detection_area_left_expand_dist | [m] | double | Lanelet expand length for left side to find avoidance target vehicles. | 1.0 |
| enable_bound_clipping | [-] | bool | Enable clipping left and right bound of drivable area when obstacles are in the drivable area | false |
| enable_avoidance_over_same_direction | [-] | bool | Extend avoidance trajectory to adjacent lanes that has same direction. If false, avoidance only happen in current lane. | true |
| enable_avoidance_over_opposite_direction | [-] | bool | Extend avoidance trajectory to adjacent lanes that has opposite direction. `enable_avoidance_over_same_direction` must be `true` to take effects | true |
| enable_update_path_when_object_is_gone | [-] | bool | Reset trajectory when avoided objects are gone. If false, shifted path points remain same even though the avoided objects are gone. | false |
| enable_safety_check | [-] | bool | Flag to enable safety check. | false |
| enable_yield_maneuver | [-] | bool | Flag to enable yield maneuver. | false |
| enable_yield_maneuver_during_shifting | [-] | bool | Flag to enable yield maneuver during shifting. | false |
| publish_debug_marker | [-] | bool | Flag to publish debug marker (set `false` as default since it takes considerable cost). | false |
| print_debug_info | [-] | bool | Flag to print debug info (set `false` as default since it takes considerable cost). | false |
| Name | Unit | Type | Description | Default value |
| :------------------------------------- | :--- | :----- | :---------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| resample_interval_for_planning | [m] | double | Path resample interval for avoidance planning path. | 0.3 |
| resample_interval_for_output | [m] | double | Path resample interval for output path. Too short interval increases computational cost for latter modules. | 4.0 |
| detection_area_right_expand_dist | [m] | double | Lanelet expand length for right side to find avoidance target vehicles. | 0.0 |
| detection_area_left_expand_dist | [m] | double | Lanelet expand length for left side to find avoidance target vehicles. | 1.0 |
| enable_update_path_when_object_is_gone | [-] | bool | Reset trajectory when avoided objects are gone. If false, shifted path points remain same even though the avoided objects are gone. | false |
| enable_safety_check | [-] | bool | Flag to enable safety check. | false |
| enable_yield_maneuver | [-] | bool | Flag to enable yield maneuver. | false |
| enable_yield_maneuver_during_shifting | [-] | bool | Flag to enable yield maneuver during shifting. | false |

**NOTE:** It has to set both `enable_safety_check` and `enable_yield_maneuver` to enable yield maneuver.

| Name | Unit | Type | Description | Default value |
| :------------------------ | ---- | ---- | ----------------------------------------------------------------------------------------------------------------------- | ------------- |
| enable_bound_clipping | [-] | bool | Enable clipping left and right bound of drivable area when obstacles are in the drivable area | false |
| use_adjacent_lane | [-] | bool | Extend avoidance trajectory to adjacent lanes that has same direction. If false, avoidance only happen in current lane. | true |
| use_opposite_lane | [-] | bool | Extend avoidance trajectory to opposite direction lane. `use_adjacent_lane` must be `true` to take effects | true |
| use_intersection_areas | [-] | bool | Extend drivable to intersection area. | false |
| use_hatched_road_markings | [-] | bool | Extend drivable to hatched road marking area. | false |

| Name | Unit | Type | Description | Default value |
| :------------------ | ---- | ---- | --------------------------------------------------------------------------------------- | ------------- |
| output_debug_marker | [-] | bool | Flag to publish debug marker (set `false` as default since it takes considerable cost). | false |
| output_debug_info | [-] | bool | Flag to print debug info (set `false` as default since it takes considerable cost). | false |

### Avoidance target filtering parameters

namespace: `avoidance.target_object.`
Expand Down Expand Up @@ -772,7 +812,7 @@ Developers can see what is going on in each process by visualizing all the avoid

![fig1](../image/avoidance/avoidance-debug-marker.png)

To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner avoidance.publish_debug_marker true` (no restart is needed) or simply set the `publish_debug_marker` to `true` in the `avoidance.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance` in `rviz2`.
To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner avoidance.output_debug_marker true` (no restart is needed) or simply set the `output_debug_marker` to `true` in the `avoidance.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance` in `rviz2`.

### Echoing debug message to find out why the objects were ignored

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