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fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path #8066

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Jul 18, 2024
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fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path #8066

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34 changes: 27 additions & 7 deletions ...nner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 8.32 to 8.64, 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.
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const auto is_forward_object = [](const auto & object) { return object.longitudinal > 0.0; };

const auto is_on_path = [this](const auto & object) {
const auto [overhang, point] = object.overhang_points.front();
return std::abs(overhang) < 0.5 * data_->parameters.vehicle_width;
};

const auto is_valid_shift_line = [](const auto & s) {
return s.start_longitudinal > 0.0 && s.start_longitudinal < s.end_longitudinal;
};

ObjectDataArray unavoidable_objects;

// target objects are sorted by longitudinal distance.
AvoidOutlines outlines;
for (auto & o : data.target_objects) {
if (!o.avoid_margin.has_value()) {
if (!data.red_signal_lane.has_value()) {
o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;
} else if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
o.info = ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY;
} else {
o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;
}
if (o.avoid_required && is_forward_object(o)) {
if (o.avoid_required && is_forward_object(o) && is_on_path(o)) {
break;
} else {
unavoidable_objects.push_back(o);
continue;
}
}

const auto is_object_on_right = utils::static_obstacle_avoidance::isOnRight(o);
const auto desire_shift_length =
helper_->getShiftLength(o, is_object_on_right, o.avoid_margin.value());
if (utils::static_obstacle_avoidance::isSameDirectionShift(
is_object_on_right, desire_shift_length)) {
helper_->getShiftLength(o, isOnRight(o), o.avoid_margin.value());
if (utils::static_obstacle_avoidance::isSameDirectionShift(isOnRight(o), desire_shift_length)) {
o.info = ObjectInfo::SAME_DIRECTION_SHIFT;
if (o.avoid_required && is_forward_object(o)) {
if (o.avoid_required && is_forward_object(o) && is_on_path(o)) {
break;
} else {
unavoidable_objects.push_back(o);
continue;
}
}

// calculate feasible shift length based on behavior policy
const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length);
if (!feasible_shift_profile.has_value()) {
if (o.avoid_required && is_forward_object(o)) {
if (o.avoid_required && is_forward_object(o) && is_on_path(o)) {

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Conditional 

ShiftLineGenerator::generateAvoidOutline has 3 complex conditionals with 6 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
break;
} else {
unavoidable_objects.push_back(o);
continue;
}
}

// If there is an object that cannot be avoided, this module only avoids object on the same side
// as unavoidable object.
if (!unavoidable_objects.empty()) {
if (isOnRight(unavoidable_objects.front()) && !isOnRight(o)) {
break;
}
if (!isOnRight(unavoidable_objects.front()) && isOnRight(o)) {
break;
}
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method 

ShiftLineGenerator::generateAvoidOutline increases in cyclomatic complexity from 50 to 58, 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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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Bumpy Road Ahead 

ShiftLineGenerator::generateAvoidOutline 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.
// use absolute dist for return-to-center, relative dist from current for avoiding.
const auto feasible_return_distance =
helper_->getMaxAvoidanceDistance(feasible_shift_profile.value().first);
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