Obstacle Cruise Planner

Overview

The autoware_obstacle_cruise_planner package has following modules.

• Stop planning
  • stop when there is a static obstacle near the trajectory.
• Cruise planning
  • cruise a dynamic obstacle in front of the ego.
• Slow down planning
  • slow down when there is a static/dynamic obstacle near the trajectory.

Interfaces

Input topics

Output topics

Design

Design for the following functions is defined here.

• Behavior determination against obstacles
• Stop planning
• Cruise planning
• Slow down planning

A data structure for cruise and stop planning is as follows. This planner data is created first, and then sent to the planning algorithm.

struct PlannerData
{
  rclcpp::Time current_time;
  autoware_planning_msgs::msg::Trajectory traj;
  geometry_msgs::msg::Pose current_pose;
  double ego_vel;
  double current_acc;
  std::vector<Obstacle> target_obstacles;
};

struct Obstacle
{
  rclcpp::Time stamp;  // This is not the current stamp, but when the object was observed.
  geometry_msgs::msg::Pose pose;  // interpolated with the current stamp
  bool orientation_reliable;
  Twist twist;
  bool twist_reliable;
  ObjectClassification classification;
  std::string uuid;
  Shape shape;
  std::vector<PredictedPath> predicted_paths;
};

Behavior determination against obstacles

Obstacles for cruising, stopping and slowing down are selected in this order based on their pose and velocity. The obstacles not in front of the ego will be ignored.

The behavior determination flowchart is shown below.

Determine cruise vehicles

The obstacles meeting the following condition are determined as obstacles for cruising.

• The lateral distance from the object to the ego’s trajectory is smaller than behavior_determination.cruise.max_lat_margin.

• The object type is for cruising according to common.cruise_obstacle_type.*.
• The object is not crossing the ego’s trajectory (*1).
• If the object is inside the trajectory.
  • The object type is for inside cruising according to common.cruise_obstacle_type.inside.*.
  • The object velocity is larger than behavior_determination.obstacle_velocity_threshold_from_cruise_to_stop.
• If the object is outside the trajectory.
  • The object type is for outside cruising according to common.cruise_obstacle_type.outside.*.
  • The object velocity is larger than behavior_determination.cruise.outside_obstacle.obstacle_velocity_threshold.
  • The highest confident predicted path collides with the ego’s trajectory.
  • Its collision’s period is larger than behavior_determination.cruise.outside_obstacle.ego_obstacle_overlap_time_threshold.

Yield for vehicles that might cut in into the ego’s lane

It is also possible to yield (cruise) behind vehicles in neighbor lanes if said vehicles might cut in the ego vehicle’s current lane.

The obstacles meeting the following condition are determined as obstacles for yielding (cruising).

• The object type is for cruising according to common.cruise_obstacle_type.* and it is moving with a speed greater than behavior_determination.cruise.yield.stopped_obstacle_velocity_threshold.
• The object is not crossing the ego’s trajectory (*1).
• There is another object of type common.cruise_obstacle_type.* stopped in front of the moving obstacle.
• The lateral distance (using the ego’s trajectory as reference) between both obstacles is less than behavior_determination.cruise.yield.max_lat_dist_between_obstacles
• Both obstacles, moving and stopped, are within behavior_determination.cruise.yield.lat_distance_threshold and behavior_determination.cruise.yield.lat_distance_threshold + behavior_determination.cruise.yield.max_lat_dist_between_obstacles lateral distance from the ego’s trajectory respectively.

If the above conditions are met, the ego vehicle will cruise behind the moving obstacle, yielding to it so it can cut in into the ego’s lane to avoid the stopped obstacle.

Determine stop vehicles

Among obstacles which are not for cruising, the obstacles meeting the following condition are determined as obstacles for stopping.

• The object type is for stopping according to common.stop_obstacle_type.*.
• The lateral distance from the object to the ego’s trajectory is smaller than behavior_determination.stop.max_lat_margin.
• The object velocity along the ego’s trajectory is smaller than behavior_determination.obstacle_velocity_threshold_from_stop_to_cruise.
• The object
  • does not cross the ego’s trajectory (*1)
  • with the velocity smaller than behavior_determination.crossing_obstacle.obstacle_velocity_threshold
  • and its collision time margin is large enough (*2).

Determine slow down vehicles

Among obstacles which are not for cruising and stopping, the obstacles meeting the following condition are determined as obstacles for slowing down.

• The object type is for slowing down according to common.slow_down_obstacle_type.*.
• The lateral distance from the object to the ego’s trajectory is smaller than behavior_determination.slow_down.max_lat_margin.

NOTE

*1: Crossing obstacles

Crossing obstacle is the object whose orientation’s yaw angle against the ego’s trajectory is smaller than behavior_determination.crossing_obstacle.obstacle_traj_angle_threshold.

*2: Enough collision time margin

We predict the collision area and its time by the ego with a constant velocity motion and the obstacle with its predicted path. Then, we calculate a collision time margin which is the difference of the time when the ego will be inside the collision area and the obstacle will be inside the collision area. When this time margin is smaller than behavior_determination.stop.crossing_obstacle.collision_time_margin, the margin is not enough.

Stop planning

The role of the stop planning is keeping a safe distance with static vehicle objects or dynamic/static non vehicle objects.

The stop planning just inserts the stop point in the trajectory to keep a distance with obstacles. The safe distance is parameterized as common.safe_distance_margin. When it stops at the end of the trajectory, and obstacle is on the same point, the safe distance becomes terminal_safe_distance_margin.

When inserting the stop point, the required acceleration for the ego to stop in front of the stop point is calculated. If the acceleration is less than common.min_strong_accel, the stop planning will be cancelled since this package does not assume a strong sudden brake for emergency.

Cruise planning

The role of the cruise planning is keeping a safe distance with dynamic vehicle objects with smoothed velocity transition. This includes not only cruising a front vehicle, but also reacting a cut-in and cut-out vehicle.

The safe distance is calculated dynamically based on the Responsibility-Sensitive Safety (RSS) by the following equation.

assuming that $d_{rss}$ is the calculated safe distance, $t_{idling}$ is the idling time for the ego to detect the front vehicle’s deceleration, $v_{ego}$ is the ego’s current velocity, $v_{obstacle}$ is the front obstacle’s current velocity, $a_{ego}$ is the ego’s acceleration, and $a_{obstacle}$ is the obstacle’s acceleration. These values are parameterized as follows. Other common values such as ego’s minimum acceleration is defined in common.param.yaml.

The detailed formulation is as follows.

Block diagram

Slow down planning

The role of the slow down planning is inserting slow down velocity in the trajectory where the trajectory points are close to the obstacles. The parameters can be customized depending on the obstacle type (see slow_down.labels), making it possible to adjust the slow down behavior depending if the obstacle is a pedestrian, bicycle, car, etc. Each obstacle type has a static and a moving parameter set, so it is possible to customize the slow down response of the ego vehicle according to the obstacle type and if it is moving or not. If an obstacle is determined to be moving, the corresponding moving set of parameters will be used to compute the vehicle slow down, otherwise, the static parameters will be used. The static and moving separation is useful for customizing the ego vehicle slow down behavior to, for example, slow down more significantly when passing stopped vehicles that might cause occlusion or that might suddenly open its doors.

An obstacle is classified as static if its total speed is less than the moving_object_speed_threshold parameter. Furthermore, a hysteresis based approach is used to avoid chattering, it uses the moving_object_hysteresis_range parameter range and the obstacle’s previous state (moving or static) to determine if the obstacle is moving or not. In other words, if an obstacle was previously classified as static, it will not change its classification to moving unless its total speed is greater than moving_object_speed_threshold + moving_object_hysteresis_range. Likewise, an obstacle previously classified as moving, will only change to static if its speed is lower than moving_object_speed_threshold - moving_object_hysteresis_range.

The closest point on the obstacle to the ego’s trajectory is calculated. Then, the slow down velocity is calculated by linear interpolation with the distance between the point and trajectory as follows.

The calculated velocity is inserted in the trajectory where the obstacle is inside the area with behavior_determination.slow_down.max_lat_margin.

Implementation

Flowchart

Successive functions consist of autoware_obstacle_cruise_planner as follows.

Various algorithms for stop and cruise planning will be implemented, and one of them is designated depending on the use cases. The core algorithm implementation generateTrajectory depends on the designated algorithm.

@startuml
title onTrajectory
start

group convertToObstacles
  :check obstacle's label;
  :check obstacle is in front of ego;
  :check obstacle's lateral deviation to trajectory;
  :create obstacle instance;
end group

group determineEgoBehaviorAgainstObstacles
  :resampleExtendedTrajectory;
  group for each obstacle
    :createCruiseObstacle;
    :createStopObstacle;
    :createSlowDownObstacle;
  end group
  :update previous obstacles;
end group

:createPlannerData;

:generateStopTrajectory;

:generateCruiseTrajectory;

:generateSlowDownTrajectory;

:publish trajectory;

:publishDebugData;

:publish and print calculation time;

stop
@enduml

Algorithm selection for cruise planner

Currently, only a PID-based planner is supported. Each planner will be explained in the following.

PID-based planner

Stop planning

In the pid_based_planner namespace,

Only one obstacle is targeted for the stop planning. It is the obstacle among obstacle candidates whose velocity is less than obstacle_velocity_threshold_from_cruise_to_stop, and which is the nearest to the ego along the trajectory. A stop point is inserted keepingcommon.safe_distance_margin distance between the ego and obstacle.

Note that, as explained in the stop planning design, a stop planning which requires a strong acceleration (less than common.min_strong_accel) will be canceled.

Cruise planning

In the pid_based_planner namespace,

In order to keep the safe distance, the target velocity and acceleration is calculated and sent as an external velocity limit to the velocity smoothing package (motion_velocity_smoother by default). The target velocity and acceleration is respectively calculated with the PID controller according to the error between the reference safe distance and the actual distance.

Optimization-based planner

under construction

Minor functions

Prioritization of behavior module’s stop point

When stopping for a pedestrian walking on the crosswalk, the behavior module inserts the zero velocity in the trajectory in front of the crosswalk. Also autoware_obstacle_cruise_planner’s stop planning also works, and the ego may not reach the behavior module’s stop point since the safe distance defined in autoware_obstacle_cruise_planner may be longer than the behavior module’s safe distance. To resolve this non-alignment of the stop point between the behavior module and autoware_obstacle_cruise_planner, common.min_behavior_stop_margin is defined. In the case of the crosswalk described above, autoware_obstacle_cruise_planner inserts the stop point with a distance common.min_behavior_stop_margin at minimum between the ego and obstacle.

A function to keep the closest stop obstacle in target obstacles

In order to keep the closest stop obstacle in the target obstacles, we check whether it is disappeared or not from the target obstacles in the checkConsistency function. If the previous closest stop obstacle is remove from the lists, we keep it in the lists for stop_obstacle_hold_time_threshold seconds. Note that if a new stop obstacle appears and the previous closest obstacle removes from the lists, we do not add it to the target obstacles again.

How To Debug

How to debug can be seen here.

Known Limits

• Common
  • When the obstacle pose or velocity estimation has a delay, the ego sometimes will go close to the front vehicle keeping deceleration.
  • Current implementation only uses predicted objects message for static/dynamic obstacles and does not use pointcloud. Therefore, if object recognition is lost, the ego cannot deal with the lost obstacle.
  • The current predicted paths for obstacle’s lane change does not have enough precision for obstacle_cruise_planner. Therefore, we set rough_detection_area a small value.
• PID-based planner
  • The algorithm strongly depends on the velocity smoothing package (motion_velocity_smoother by default) whether or not the ego realizes the designated target speed. If the velocity smoothing package is updated, please take care of the vehicle’s behavior as much as possible.

Changelog for package autoware_obstacle_cruise_planner

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• feat(path_optimizer): additional failure logging and failure mode handling (#10276) MRM when MPT fails
• feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273)
• feat: adaption to ROS nodes guidelines about directory structure (#10268)
• feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
• Contributors: Arjun Jagdish Ram, Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Yutaka Kondo, 心刚

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)
• feat(planning_test_manager): abstract message-specific functions (#9882)
  • abstract message-specific functions
  • include necessary header
  • adapt velocity_smoother to new test manager
  • adapt behavior_velocity_planner to new test manager
  • adapt path_optimizer to new test manager
  • fix output subscription
  • adapt behavior_path_planner to new test manager
  • adapt scenario_selector to new test manager
  • adapt freespace_planner to new test manager
  • adapt planning_validator to new test manager
  • adapt obstacle_stop_planner to new test manager
  • adapt obstacle_cruise_planner to new test manager
  • disable test for freespace_planner
  • adapt behavior_velocity_crosswalk_module to new test manager
  • adapt behavior_path_lane_change_module to new test manager
  • adapt behavior_path_avoidance_by_lane_change_module to new test manager
  • adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager
  • adapt behavior_path_external_request_lane_change_module to new test manager
  • adapt behavior_path_side_shift_module to new test manager
  • adapt behavior_path_static_obstacle_avoidance_module to new test manager
  • adapt path_smoother to new test manager
  • adapt behavior_velocity_blind_spot_module to new test manager
  • adapt behavior_velocity_detection_area_module to new test manager
  • adapt behavior_velocity_intersection_module to new test manager
  • adapt behavior_velocity_no_stopping_area_module to new test manager
  • adapt behavior_velocity_run_out_module to new test manager
  • adapt behavior_velocity_stop_line_module to new test manager
  • adapt behavior_velocity_traffic_light_module to new test manager
  • adapt behavior_velocity_virtual_traffic_light_module to new test manager
  • adapt behavior_velocity_walkway_module to new test manager
  • adapt motion_velocity_planner_node_universe to new test manager
  • include necessary headers

  * Odometries -> Odometry ---------Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>

• Contributors: Fumiya Watanabe, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_obstacle_cruise_planner)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_obstacle_cruise_planner (#9905) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_obstacle_cruise_planner
• chore(planning): move package directory for planning factor interface (#9948)
  • chore: add new package for planning factor interface
  • chore(surround_obstacle_checker): update include file
  • chore(obstacle_stop_planner): update include file
  • chore(obstacle_cruise_planner): update include file
  • chore(motion_velocity_planner): update include file
  • chore(bpp): update include file
  • chore(bvp-common): update include file
  • chore(blind_spot): update include file
  • chore(crosswalk): update include file
  • chore(detection_area): update include file
  • chore(intersection): update include file
  • chore(no_drivable_area): update include file
  • chore(no_stopping_area): update include file
  • chore(occlusion_spot): update include file
  • chore(run_out): update include file
  • chore(speed_bump): update include file
  • chore(stop_line): update include file
  • chore(template_module): update include file
  • chore(traffic_light): update include file
  • chore(vtl): update include file
  • chore(walkway): update include file

  * chore(motion_utils): remove factor interface ---------

• feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (#9927) Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: satoshi-ota <<satoshi.ota928@gmail.com>>
• docs(obstacle_cruise_planner): add supplemental figures (#9154)
  • add behavior determination flowchart
  • add cruise planning block diagram

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Fumiya Watanabe, Mamoru Sobue, Mitsuhiro Sakamoto, Satoshi OTA, Vishal Chauhan

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (#9594)
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - planning (#9570)
• fix(obstacle_cruise_planner)!: remove stop reason (#9464) fix(obstacle_cruise_planner): remove stop reason
• 0.39.0
• update changelog
• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle. (#9359)
  • feat(obstacle_cruise_planner): outputs velocity factor when the ego follows front vehicle.

  * fix: cppcheck ---------

• fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-delete-abstract-non-virtual-dtor (#9419) fix: clang-diagnostic-delete-abstract-non-virtual-dtor
• fix(autoware_obstacle_cruise_planner): fix clang-diagnostic-defaulted-function-deleted (#9398) fix: clang-diagnostic-defaulted-function-deleted
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180)
  • first commit
  • fix building errs.
  • change diagnostic messages to metric messages for publishing decision.
  • fix bug about motion_velocity_planner
  • change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
  • tmp save for planning_evaluator
  • change the topic to which metrics published to.
  • fix typo.
  • remove unnesessary publishing of metrics.
  • mke planning_evaluator publish msg of MetricArray instead of Diags.
  • update aeb with metric type for decision.
  • fix some bug
  • remove autoware_evaluator_utils package.
  • remove diagnostic_msgs dependency of planning_evaluator
  • use metric_msgs for autoware_processing_time_checker.
  • rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
  • pre-commit and fix typo
  • publish metrics even if there is no metric in the MetricArray.
  • modify the metric name of processing_time.
  • update unit test for test_planning/control_evaluator

  * manual pre-commit ---------

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• chore(obstacle_cruise_planner): add function tests for a utils function (#9206) * add utils test ---------

• Contributors: Esteve Fernandez, Fumiya Watanabe, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo, kobayu858

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180)
  • first commit
  • fix building errs.
  • change diagnostic messages to metric messages for publishing decision.
  • fix bug about motion_velocity_planner
  • change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
  • tmp save for planning_evaluator
  • change the topic to which metrics published to.
  • fix typo.
  • remove unnesessary publishing of metrics.
  • mke planning_evaluator publish msg of MetricArray instead of Diags.
  • update aeb with metric type for decision.
  • fix some bug
  • remove autoware_evaluator_utils package.
  • remove diagnostic_msgs dependency of planning_evaluator
  • use metric_msgs for autoware_processing_time_checker.
  • rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
  • pre-commit and fix typo
  • publish metrics even if there is no metric in the MetricArray.
  • modify the metric name of processing_time.
  • update unit test for test_planning/control_evaluator

  * manual pre-commit ---------

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• chore(obstacle_cruise_planner): add function tests for a utils function (#9206) * add utils test ---------

• Contributors: Esteve Fernandez, Kem (TiankuiXian), Yuki TAKAGI, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (#8946)
• refactor(osqp_interface): added autoware prefix to osqp_interface (#8958)
• chore(obstacle_cruise_planner): add maintainer (#9077)
• feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (#8072)
  • feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out

  * cleanup, add stop safety margin for transient objects style(pre-commit): autofix

  • fix: debug
  • fix: precommit error
  • fix: unused-variable
  • feat: improve cruise behavior for outside obstacles
  • fix projected velocity, improve transient obstacle behavior
  • feat: add predefined deceleration rate for VRUs

  * feat: update ---------

• refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• refactor(signal_processing): prefix package and namespace with autoware (#8541)
• fix(motion_planning): align the parameters with launcher (#8792) parameters in motion_planning aligned
• fix(velocity_smoother, obstacle_cruise_planner ): float type of processing time was wrong (#8161) fix(velocity_smoother): float type of processing time was wrong
• feat(cruise_planner,planning_evaluator): add cruise and slow down diags (#7960)
  • add cruise and slow down diags to cruise planner
  • add cruise types

  * adjust planning eval ---------

• feat(obstacle_cruise_planner): prevent chattering when using point cloud (#7861)
  • prevent chattering of stop planning

  * Update planning/autoware_obstacle_cruise_planner/src/node.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * fix stop position oscillation ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

• feat(obstacle_cruise_planner): add diagnostics publishing to cruise planner (#7836) add diagnostics publishing to cruise planner
• feat(obstacle_cruise_planner): support pointcloud-based obstacles (#6907)
  • add pointcloud to obstacle properties
  • add tf listener & pointcloud subscriber
  • add parameters for pointcloud obstacle
  • add type aliases
  • convert pointcloud to obstacle
  • add type alias
  • add polygon conversion for pointcloud obstacle
  • initialize twist & pose of pointcloud obstacle
  • overload to handle both obstacle & predicted path
  • implement ego behavior determination against pointcloud obstacles
  • generate obstacle from point
  • revert getCollisionIndex()
  • generate obstacle from each point in cloud
  • set pointcloud obstacle velocity to 0
  • use tf buffer & listener with pointers
  • update latest pointcloud data
  • add topic remap
  • remove unnecessary includes
  • set slow down obstacle velocity to 0
  • add flag to consider pointcloud obstacle for stopping & slowing down
  • style(pre-commit): autofix
  • downsample pointcloud using voxel grid
  • change shape type of pointcloud obstacle to polygon
  • convert pointcloud to obstacle by clustering
  • add parameters for clustering
  • add max_num_points parameter to dummy object
  • downsample pointcloud when the number of points is larger than max_num_points
  • add max_num_points property to dummy bus
  • add parameters for pointcloud based obstacles
  • store pointcloud in obstacle struct
  • change obstacle conversion method
  • migrate previous changes to new package
  • store necessary points only
  • move use_pointcloud to common parameter
  • extract necessary points from pointcloud
  • add use_pointcloud parameter to planner interface
  • fix obstacle conversion
  • fix collision point determination
  • simplify pointcloud transformation
  • style(pre-commit): autofix
  • fix collision point determination
  • pick nearest stop collision point
  • check collision for every point in cluster
  • migrate previous changes to new files
  • reduce diff
  • remove use_pointcloud parameter
  • add parameters for pointcloud filtering
  • add autoware namespace

  * Revert "add max_num_points parameter to dummy object" This reverts commit 98bcd0856f861d23c9f7989d8128939ec0b3e27c. * Revert "downsample pointcloud when the number of points is larger than max_num_points" This reverts commit fb00b59d8f14cec6810e7fab12bc34d8a0c617c7. * Revert "add max_num_points property to dummy bus" This reverts commit 5f9e4ab5ae7d8d46521c736b1d259040121f3bc5.

  • feat(diagnostic_graph_utils): add logging tool
  • fix all OK
  • feat(default_ad_api): add log when operation mode change fails
  • get only the necessary one of object or pointcloud data
  • addfield for obstacle source type
  • enable simultaneous use of PredictedObjects and PointCloud
  • separate convertToObstacles() by source type
  • avoid using pointer
  • reduce diff
  • make nest shallower
  • define vector concatenate function
  • shorten variable names

  * fix redundant condition ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takagi, Isamu <<isamu.takagi@tier4.jp>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• fix(autoware_obstacle_cruise_planner): fix shadowVariable warning in generateSlowDownTrajectory (#7659)
• fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (#7656)
  • fix(autoware_obstacle_cruise_planner): fix shadowVariable warning
  • fix

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings (#7620)
  • fix(autoware_obstacle_cruise_planner): fix knownConditionTrueFalse warnings

  * fix

• fix(autoware_obstacle_cruise_planner): fix unreadVariable warning (#7627)
• refactor(obstacle_cruise_planner): apply clang-tidy check (#7553) obstacle_cruise
• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning (#7541)
  • fix(autoware_obstacle_cruise_planner): fix assignBoolToFloat warning
  • delete unnecessary file

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_obstacle_cruise_planner): fix unusedScopedObject bug (#7569)
• refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• feat(obstacle_cruise_planner): rename to include/autoware/{package_name} (#7510)
• refactor(test_utils): move to common folder (#7158)
  • Move autoware planning test manager to autoware namespace
  • fix package share directory for behavior path planner
  • renaming files and directory
  • rename variables that has planning_test_utils in its name.
  • use autoware namespace for test utils
  • move folder to common
  • update .pages file
  • fix test error
  • removed obstacle velocity limiter test artifact

  * remove namespace from planning validator, it has using keyword ---------

• refactor(obstacle_cruise_planner)!: add autoware_ prefix (#7419)
• Contributors: Berkay Karaman, Esteve Fernandez, Koichi98, Kosuke Takeuchi, Mamoru Sobue, Mitsuhiro Sakamoto, Ryuta Kambe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, danielsanchezaran

0.26.0 (2024-04-03)