[Dense-Urban-ODD] Improve cruise planner slowing down capabilities to overtaking NPC

[ahmeddesokyebrahim]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Part of:

• [Autoware Labs] Dense Urban ODD - Reviewing and Tracking Failed Scenarios #7485

Dense Urban ODD Characteristics

• Low-Speed Driving: Typical speeds around 15 km/h.
• Complex Traffic Elements: Includes dense traffic with various dynamic interactions.
• Dynamic Agents: Frequent encounters with moving pedestrians and cyclists.
• Bidirectional Movement: Vehicles operate in lanes supporting bidirectional flow.
• Traffic Rule Non-compliance: Other road users may exhibit behaviors such as:
  • Driving in the wrong direction.
  • Cutting in unexpectedly from off-road areas.
  • Jaywalking pedestrians.
  • Improper / sudden overtaking by other road users.

In the context of Dense Urban ODD, we need to fine-tune the existing parameters of the obstacle_cruise_planner or potentially develop new features to improve the slowing down of ego vehicle to overtaking road user maintaining both passengers safety and comfortability.

Purpose

Overtaking npc to ego lane then slowing down with different speeds "UC-NTR-001-0008"

The following image describes the scenario where ...

• an npc is driving in adjacent lane to ego.
• then it passes the ego vehicle and overtakes the ego lane.
• after overtaking, it starts to slow down.
  

The purpose of improvement in the following cases is to mitigate any unnecessary declaration (slowing down) value by ego vehicle while keeping the distance with overtaking npc.

NPC slowing down from 20 to 15 km/h "PASSED ✔️ "

2024-08-01.07-33-50.mp4

NPC slowing down from 20 to 12.5 km/h "FAILED ❌"

2024-08-01.07-35-41.mp4

NPC slowing down from 20 to 10 km/h "FAILED ❌"

2024-08-01.07-36-56.mp4

For reproducing the issue using scenario simulation, you can use the these scenario and map files.

Possible approaches

The obstacle_cruise_planner should be capable of handling the situations mentioned above.

• The primary goal will be to tune the parameters of the package to achieve the success of above scenarios.
• If tuning the parameters is not enough for having successful scenarios, the obstacle_cruise_planner implementation should be improved.

Definition of done

• Create a proposal for changing parameters.
• If the package is inadequate to handle scenarios, propose improvements.
• Ensure all scenarios for Dense Urban ODD pass.

[mitsudome-r]

This is the full length video of a scenario which doesn't abort when the failure condition is met. https://www.youtube.com/watch?v=c0ql4gGCVvo

[ahmeddesokyebrahim]

Closing this issue as completed after merging the relevant PR.