feat(behavior_velocity_planner): add safety slow down feature for specific crosswalks

[mehmetdogru]

Signed-off-by: Mehmet Dogru 42mehmetdogru42@gmail.com

Description

With the current implementation of crosswalk module, ego vehicle doesn't slow down for crosswalks unless there are target objects around it. However for some use cases slowing down for some crosswalks where there are no traffic lights either for pedestrians or vehicles, makes sense. See the issue for details.

Related links

Discussion: https://github.com/orgs/autowarefoundation/discussions/2767
Issue: #1523

Tests performed

To test this PR you should add safety_slow_down_speed and safety_slow_down_distance tags to any crosswalk as below:

<relation id='34378' visible='true' version='1'>
    <member type='way' ref='34374' role='left' />
    <member type='way' ref='34377' role='right' />
    <tag k='subtype' v='crosswalk' />
    <tag k='safety_slow_down_speed' v='3.0' />
    <tag k='safety_slow_down_distance' v='2.0' />
    <tag k='type' v='lanelet' />
</relation>

Notes for reviewers

Related PR that should be merged with this one:

autowarefoundation/autoware_common#93

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[codecov]

Codecov Report

Merging #1528 (c2c6fe6) into main (9ff6235) will decrease coverage by 0.31%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1528      +/-   ##
==========================================
- Coverage   10.94%   10.63%   -0.32%     
==========================================
  Files        1033     1108      +75     
  Lines       69512    78971    +9459     
  Branches    18074    18795     +721     
==========================================
+ Hits         7611     8397     +786     
- Misses      53407    61651    +8244     
- Partials     8494     8923     +429     

Flag	Coverage Δ		*Carryforward flag
differential	4.13% <0.00%> (?)
total	10.64% <0.00%> (-0.31%)	⬇️	Carriedforward from 27f9216

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ner/src/scene_module/crosswalk/scene_crosswalk.cpp	0.00% <0.00%> (ø)
...lude/freespace_planning_algorithms/reeds_shepp.hpp	50.00% <0.00%> (-50.00%)	⬇️
...tic_evaluator/include/kinematic_evaluator/stat.hpp	62.50% <0.00%> (-19.32%)	⬇️
..._evaluator/include/localization_evaluator/stat.hpp	56.25% <0.00%> (-16.48%)	⬇️
.../src/vehicle/test_vehicle_state_checker_helper.hpp	70.58% <0.00%> (-9.42%)	⬇️
planning/behavior_path_planner/test/input.cpp	60.00% <0.00%> (-7.86%)	⬇️
common/perception_utils/src/perception_utils.cpp	56.75% <0.00%> (-6.88%)	⬇️
...include/motion_utils/trajectory/tmp_conversion.hpp	60.00% <0.00%> (-6.67%)	⬇️
...oware_auto_geometry/include/geometry/common_2d.hpp	82.66% <0.00%> (-5.91%)	⬇️
...nning/behavior_velocity_planner/test/src/utils.hpp	82.22% <0.00%> (-5.59%)	⬇️
... and 761 more

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[satoshi-ota]

@mehmetdogru Sorry late reply, and thanks for your PR 👍
Your idea looks good to me. I'll approve this PR after test in my local environment.

Before that, could you fix #1528 (comment) and some conflicts ?

[mehmetdogru]

@satoshi-ota

Thank you for the comment. I made the necessary changes. Ready for review

[satoshi-ota]

@mehmetdogru OK, thanks. I'll check it.

[satoshi-ota]

[slow down case 1] -> LGTM

Insert tags in sample lanelet2_map.osm as follow:

...

  <relation id="164">
    <member type="way" role="left" ref="327"/>
    <member type="way" role="right" ref="328"/>
    <member type="relation" role="regulatory_element" ref="9896"/>
    <tag k="type" v="lanelet"/>
    <tag k="subtype" v="crosswalk"/>
    <tag k="speed_limit" v="30"/>
    <tag k="location" v="urban"/>
    <tag k="one_way" v="yes"/>
    <tag k="participant:pedestrian" v="yes"/>
    <tag k="safety_slow_down_speed" v="3.0"/>
    <tag k="safety_slow_down_distance" v="2.0"/>
  </relation>

...

  <relation id="166">
    <member type="way" role="left" ref="331"/>
    <member type="way" role="right" ref="332"/>
    <tag k="type" v="lanelet"/>
    <tag k="subtype" v="crosswalk"/>
    <tag k="speed_limit" v="30"/>
    <tag k="location" v="urban"/>
    <tag k="one_way" v="yes"/>
    <tag k="participant:pedestrian" v="yes"/>
    <tag k="safety_slow_down_speed" v="3.0"/>
    <tag k="safety_slow_down_distance" v="2.0"/>
  </relation>

...

simplescreenrecorder-2022-08-23_13.25.53.mp4

[satoshi-ota]

[slow down case 2 (change params)] -> LGTM

Insert tags in sample lanelet2_map.osm as follow:

...

  <relation id="164">
    <member type="way" role="left" ref="327"/>
    <member type="way" role="right" ref="328"/>
    <member type="relation" role="regulatory_element" ref="9896"/>
    <tag k="type" v="lanelet"/>
    <tag k="subtype" v="crosswalk"/>
    <tag k="speed_limit" v="30"/>
    <tag k="location" v="urban"/>
    <tag k="one_way" v="yes"/>
    <tag k="participant:pedestrian" v="yes"/>
    <tag k="safety_slow_down_speed" v="1.0"/>
    <tag k="safety_slow_down_distance" v="5.0"/>
  </relation>

...

  <relation id="166">
    <member type="way" role="left" ref="331"/>
    <member type="way" role="right" ref="332"/>
    <tag k="type" v="lanelet"/>
    <tag k="subtype" v="crosswalk"/>
    <tag k="speed_limit" v="30"/>
    <tag k="location" v="urban"/>
    <tag k="one_way" v="yes"/>
    <tag k="participant:pedestrian" v="yes"/>
    <tag k="safety_slow_down_speed" v="1.0"/>
    <tag k="safety_slow_down_distance" v="5.0"/>
  </relation>

...

simplescreenrecorder-2022-08-23_13.33.57.mp4

[satoshi-ota]

[no slow down case] -> LGTM

Insert NO ADDITIONAL TAGS in sample lanelet2_map.osm as follow:

...

  <relation id="164">
    <member type="way" role="left" ref="327"/>
    <member type="way" role="right" ref="328"/>
    <member type="relation" role="regulatory_element" ref="9896"/>
    <tag k="type" v="lanelet"/>
    <tag k="subtype" v="crosswalk"/>
    <tag k="speed_limit" v="30"/>
    <tag k="location" v="urban"/>
    <tag k="one_way" v="yes"/>
    <tag k="participant:pedestrian" v="yes"/>
  </relation>

...

  <relation id="166">
    <member type="way" role="left" ref="331"/>
    <member type="way" role="right" ref="332"/>
    <tag k="type" v="lanelet"/>
    <tag k="subtype" v="crosswalk"/>
    <tag k="speed_limit" v="30"/>
    <tag k="location" v="urban"/>
    <tag k="one_way" v="yes"/>
    <tag k="participant:pedestrian" v="yes"/>
  </relation>

...

simplescreenrecorder-2022-08-23_13.28.44.mp4

[satoshi-ota]

@mehmetdogru I checked that this feature works well. LGTM 👍
Thanks for your contribution !