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refactor(lane_change): add missing safety check parameter #9928

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merged 7 commits into from
Jan 16, 2025
Merged

refactor(lane_change): add missing safety check parameter #9928

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ad84d4a
refactor(lane_change): parameterize incoming object yaw threshold
zulfaqar-azmi-t4 Jan 15, 2025
daaa625
Readme
zulfaqar-azmi-t4 Jan 15, 2025
fac0182
Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…
zulfaqar-azmi-t4 Jan 16, 2025
d4e1c0d
Add missing parameters
zulfaqar-azmi-t4 Jan 16, 2025
349aa58
missing dot
zulfaqar-azmi-t4 Jan 16, 2025
a062305
Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…
zulfaqar-azmi-t4 Jan 16, 2025
21f6154
update readme
zulfaqar-azmi-t4 Jan 16, 2025
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
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Expand Up @@ -1149,6 +1149,7 @@ The following parameters are used to configure terminal lane change path feature
| `collision_check.use_all_predicted_paths` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true |
| `collision_check.prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 |
| `collision_check.yaw_diff_threshold` | [rad] | double | Maximum yaw difference between ego and object when executing rss-based collision checking | 3.1416 |
| `collision_check.th_incoming_object_yaw` | [rad] | double | Objects with a heading difference from the ego exceeding this value are excluded from the safety check. | 2.3562 |
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#### safety constraints during lane change path is computed

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3 changes: 2 additions & 1 deletion ...vior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml
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Expand Up @@ -122,7 +122,8 @@
intersection: true
turns: true
prediction_time_resolution: 0.5
yaw_diff_threshold: 3.1416
th_incoming_object_yaw: 2.3562 # [rad]
yaw_diff_threshold: 3.1416 # [rad]
check_current_lanes: false
check_other_lanes: false
use_all_predicted_paths: false
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1 change: 1 addition & 0 deletions ...ne_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp
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Expand Up @@ -94,6 +94,7 @@ struct CollisionCheckParameters
bool check_current_lane{true};
bool check_other_lanes{true};
bool use_all_predicted_paths{false};
double th_incoming_object_yaw{2.3562};
double th_yaw_diff{3.1416};
double prediction_time_resolution{0.5};
};
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14 changes: 14 additions & 0 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
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Expand Up @@ -152,6 +152,8 @@
getOrDeclareParameter<double>(*node, parameter("collision_check.prediction_time_resolution"));
p.safety.collision_check.th_yaw_diff =
getOrDeclareParameter<double>(*node, parameter("collision_check.yaw_diff_threshold"));
p.safety.collision_check.th_incoming_object_yaw =
getOrDeclareParameter<double>(*node, parameter("collision_check.th_incoming_object_yaw"));

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

LaneChangeModuleManager::set_params already has high cyclomatic complexity, and now it increases in Lines of Code from 213 to 215. 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.

// rss check
auto set_rss_params = [&](auto & params, const std::string & prefix) {
Expand Down Expand Up @@ -440,6 +442,18 @@
p->safety.collision_check.prediction_time_resolution);
updateParam<double>(
parameters, ns + "yaw_diff_threshold", p->safety.collision_check.th_yaw_diff);

auto th_incoming_object_yaw = p->safety.collision_check.th_incoming_object_yaw;
updateParam<double>(parameters, ns + "th_incoming_object_yaw", th_incoming_object_yaw);
if (th_incoming_object_yaw >= M_PI_2) {
p->safety.collision_check.th_incoming_object_yaw = th_incoming_object_yaw;
} else {
RCLCPP_WARN_THROTTLE(

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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp#L451 

Added line #L451 was not covered by tests
node_->get_logger(), *node_->get_clock(), 5000,
"The value of th_incoming_object_yaw (%.3f rad) is less than the minimum possible value (%.3f "
"rad).",
th_incoming_object_yaw, M_PI_2);
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

LaneChangeModuleManager::updateModuleParams increases in cyclomatic complexity from 11 to 12, 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.
}

{
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4 changes: 3 additions & 1 deletion planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

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ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1529 to 1531, 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.
//
// 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 @@ -1051,7 +1051,9 @@

const auto is_same_direction = [&](const PredictedObject & object) {
const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose;
return !utils::path_safety_checker::isTargetObjectOncoming(current_pose, object_pose);
return !utils::path_safety_checker::isTargetObjectOncoming(
current_pose, object_pose,
common_data_ptr_->lc_param_ptr->safety.collision_check.th_incoming_object_yaw);
};

// Perception noise could make stationary objects seem opposite the ego vehicle; check the
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