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feat(goal_planner): update lateral_deviation_thresh from 0.3 to 0.1 #9850

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merged 5 commits into from
Jan 10, 2025
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feat(goal_planner): update lateral_deviation_thresh from 0.3 to 0.1 #9850

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3e69d29
fix(goal_planner): Update lateral_deviation_thresh from 0.3 to 0.1
Kazunori-Nakajima Jan 8, 2025
b895985
unified hasDeviatedFrom{Last|Current}PreviousModulePath
Kazunori-Nakajima Jan 8, 2025
c3f5a64
style(pre-commit): autofix
pre-commit-ci[bot] Jan 8, 2025
b01d822
hasDeviatedFromPath argument modification
Kazunori-Nakajima Jan 10, 2025
1dbe87e
style(pre-commit): autofix
pre-commit-ci[bot] Jan 10, 2025
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6 changes: 2 additions & 4 deletions ...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,10 +135,8 @@ bool isOnModifiedGoal(
bool hasPreviousModulePathShapeChanged(
const BehaviorModuleOutput & upstream_module_output,
const BehaviorModuleOutput & last_upstream_module_output);
bool hasDeviatedFromLastPreviousModulePath(
const PlannerData & planner_data, const BehaviorModuleOutput & last_upstream_module_output);
bool hasDeviatedFromCurrentPreviousModulePath(
const PlannerData & planner_data, const BehaviorModuleOutput & upstream_module_output);
bool hasDeviatedFromPath(
const Point & ego_position, const BehaviorModuleOutput & upstream_module_output);

bool needPathUpdate(
const Pose & current_pose, const double path_update_duration, const rclcpp::Time & now,
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26 changes: 9 additions & 17 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.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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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1878 to 1871, 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 6.44 to 6.54, 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 @@ -155,7 +155,7 @@
{
// Calculate the lateral distance between each point of the current path and the nearest point of
// the last path
constexpr double LATERAL_DEVIATION_THRESH = 0.3;
constexpr double LATERAL_DEVIATION_THRESH = 0.1;
for (const auto & p : upstream_module_output.path.points) {
const size_t nearest_seg_idx = autoware::motion_utils::findNearestSegmentIndex(
last_upstream_module_output.path.points, p.point.pose.position);
Expand Down Expand Up @@ -184,21 +184,12 @@
return false;
}

bool hasDeviatedFromLastPreviousModulePath(
const PlannerData & planner_data, const BehaviorModuleOutput & last_upstream_module_output)
bool hasDeviatedFromPath(

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nits:
planner_data is too heavy to copy, and this function require only
planner_data.self_odometry->pose.pose.position.
so we can use

bool hasDeviatedFromPath(Point & ego_position,

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Point is geometry mesgs

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@Kazunori-Nakajima Kazunori-Nakajima Jan 10, 2025 •
edited
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Thank you very much! I see!
I fixed it.

const Point & ego_position, const BehaviorModuleOutput & upstream_module_output)
{
constexpr double LATERAL_DEVIATION_THRESH = 0.1;
return std::abs(autoware::motion_utils::calcLateralOffset(
last_upstream_module_output.path.points,
planner_data.self_odometry->pose.pose.position)) > 0.3;
}

bool hasDeviatedFromCurrentPreviousModulePath(
const PlannerData & planner_data, const BehaviorModuleOutput & upstream_module_output)
{
constexpr double LATERAL_DEVIATION_THRESH = 0.3;
return std::abs(autoware::motion_utils::calcLateralOffset(
upstream_module_output.path.points, planner_data.self_odometry->pose.pose.position)) >
LATERAL_DEVIATION_THRESH;
upstream_module_output.path.points, ego_position)) > LATERAL_DEVIATION_THRESH;

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}

bool needPathUpdate(
Expand Down Expand Up @@ -373,7 +364,8 @@
local_planner_data->self_odometry->pose.pose, modified_goal_opt, parameters_)) {
return false;
}
if (hasDeviatedFromCurrentPreviousModulePath(*local_planner_data, upstream_module_output)) {
if (hasDeviatedFromPath(
local_planner_data->self_odometry->pose.pose.position, upstream_module_output)) {

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RCLCPP_DEBUG(getLogger(), "has deviated from current previous module path");
return false;
}
Expand All @@ -383,8 +375,8 @@
return true;
}
if (
hasDeviatedFromLastPreviousModulePath(
*local_planner_data, original_upstream_module_output_) &&
hasDeviatedFromPath(

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local_planner_data->self_odometry->pose.pose.position, original_upstream_module_output_) &&

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method 

LaneParkingPlanner::onTimer already has high cyclomatic complexity, and now it increases in Lines of Code from 128 to 129. 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.
current_state != PathDecisionState::DecisionKind::DECIDED) {
RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path");
return true;
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