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fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks #8467

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Aug 14, 2024
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fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks #8467

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22 changes: 12 additions & 10 deletions perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

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ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1955 to 1957, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.58 to 6.63, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -411,8 +411,8 @@

boost::optional<CrosswalkEdgePoints> isReachableCrosswalkEdgePoints(
const TrackedObject & object, const lanelet::ConstLanelets & surrounding_lanelets,
const lanelet::ConstLanelets & external_surrounding_crosswalks,
const CrosswalkEdgePoints & edge_points, const double time_horizon, const double min_object_vel)
const lanelet::ConstLanelets & surrounding_crosswalks, const CrosswalkEdgePoints & edge_points,
const double time_horizon, const double min_object_vel)
{
using Point = boost::geometry::model::d2::point_xy<double>;

Expand All @@ -439,10 +439,10 @@
const auto is_stop_object = estimated_velocity < stop_velocity_th;
const auto velocity = std::max(min_object_vel, estimated_velocity);

const auto isAcrossAnyRoad = [&surrounding_lanelets, &external_surrounding_crosswalks](
const auto isAcrossAnyRoad = [&surrounding_lanelets, &surrounding_crosswalks](

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perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp#L442 

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const Point & p_src, const Point & p_dst) {
const auto withinAnyCrosswalk = [&external_surrounding_crosswalks](const Point & p) {
for (const auto & crosswalk : external_surrounding_crosswalks) {
const auto withinAnyCrosswalk = [&surrounding_crosswalks](const Point & p) {

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for (const auto & crosswalk : surrounding_crosswalks) {
if (boost::geometry::within(p, crosswalk.polygon2d().basicPolygon())) {
return true;
}
Expand Down Expand Up @@ -1388,82 +1388,84 @@
lanelet_map_ptr_->laneletLayer, lanelet::BasicPoint2d{obj_pos.x, obj_pos.y},
prediction_time_horizon_.pedestrian * velocity);
lanelet::ConstLanelets surrounding_lanelets;
lanelet::ConstLanelets external_surrounding_crosswalks;
lanelet::ConstLanelets surrounding_crosswalks;
for (const auto & [dist, lanelet] : surrounding_lanelets_with_dist) {
surrounding_lanelets.push_back(lanelet);
const auto attr = lanelet.attribute(lanelet::AttributeName::Subtype);
if (
attr.value() == lanelet::AttributeValueString::Crosswalk ||
attr.value() == lanelet::AttributeValueString::Walkway) {
const auto & crosswalk = lanelet;
surrounding_crosswalks.push_back(crosswalk);
if (withinLanelet(object, crosswalk)) {
crossing_crosswalk = crosswalk;
} else {
external_surrounding_crosswalks.push_back(crosswalk);
}
}
}

// If the object is in the crosswalk, generate path to the crosswalk edge
if (crossing_crosswalk) {
const auto edge_points = getCrosswalkEdgePoints(crossing_crosswalk.get());

if (hasPotentialToReach(
object, edge_points.front_center_point, edge_points.front_right_point,
edge_points.front_left_point, std::numeric_limits<double>::max(),
min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) {
PredictedPath predicted_path =
path_generator_->generatePathToTargetPoint(object, edge_points.front_center_point);
predicted_path.confidence = 1.0;
predicted_object.kinematics.predicted_paths.push_back(predicted_path);
}

if (hasPotentialToReach(
object, edge_points.back_center_point, edge_points.back_right_point,
edge_points.back_left_point, std::numeric_limits<double>::max(),
min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) {
PredictedPath predicted_path =
path_generator_->generatePathToTargetPoint(object, edge_points.back_center_point);
predicted_path.confidence = 1.0;
predicted_object.kinematics.predicted_paths.push_back(predicted_path);
}

// If the object is not crossing the crosswalk, in the road lanelets, try to find the closest
// crosswalk and generate path to the crosswalk edge
} else if (withinRoadLanelet(object, lanelet_map_ptr_)) {
lanelet::ConstLanelet closest_crosswalk{};
const auto & obj_pose = object.kinematics.pose_with_covariance.pose;
const auto found_closest_crosswalk =
lanelet::utils::query::getClosestLanelet(crosswalks_, obj_pose, &closest_crosswalk);

if (found_closest_crosswalk) {
const auto edge_points = getCrosswalkEdgePoints(closest_crosswalk);

if (hasPotentialToReach(
object, edge_points.front_center_point, edge_points.front_right_point,
edge_points.front_left_point, prediction_time_horizon_.pedestrian * 2.0,
min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) {
PredictedPath predicted_path =
path_generator_->generatePathToTargetPoint(object, edge_points.front_center_point);
predicted_path.confidence = 1.0;
predicted_object.kinematics.predicted_paths.push_back(predicted_path);
}

if (hasPotentialToReach(
object, edge_points.back_center_point, edge_points.back_right_point,
edge_points.back_left_point, prediction_time_horizon_.pedestrian * 2.0,
min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) {
PredictedPath predicted_path =
path_generator_->generatePathToTargetPoint(object, edge_points.back_center_point);
predicted_path.confidence = 1.0;
predicted_object.kinematics.predicted_paths.push_back(predicted_path);
}
}
}

// try to find the edge points for other surrounding crosswalks and generate path to the crosswalk
// edge
for (const auto & crosswalk : external_surrounding_crosswalks) {
for (const auto & crosswalk : surrounding_crosswalks) {
if (crossing_crosswalk && crossing_crosswalk.get() == crosswalk) {
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continue;

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}
const auto crosswalk_signal_id_opt = getTrafficSignalId(crosswalk);
if (crosswalk_signal_id_opt.has_value() && use_crosswalk_signal_) {
if (!calcIntentionToCrossWithTrafficSignal(
Expand All @@ -1488,7 +1490,7 @@
}

const auto reachable_crosswalk = isReachableCrosswalkEdgePoints(
object, surrounding_lanelets, external_surrounding_crosswalks, edge_points,
object, surrounding_lanelets, surrounding_crosswalks, edge_points,

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❌ Getting worse: Bumpy Road Ahead 

MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser increases from 4 to 5 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

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❌ Getting worse: Complex Method 

MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser increases in cyclomatic complexity from 27 to 30, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
prediction_time_horizon_.pedestrian, min_crosswalk_user_velocity_);

if (!reachable_crosswalk) {
Expand Down
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