feat(autonomous_emergency_braking): enable aeb with only one req path #8569

danielsanchezaran · 2024-08-22T05:14:01Z

Description

This PR allows the AEB module to work when at least one type of path (IMU or MPC based) is available (and use_imu_path and use_predicted_path parameter are both true). A warning message is printed if one of the path types is missing, but the AEB can still operate an issue emergency stops using the remaining path type.

cap-.2024-08-22-14-04-10.mp4

How was this PR tested?

PSim

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-08-22T05:14:22Z

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kyoichi-sugahara · 2024-08-22T08:13:19Z

control/autoware_autonomous_emergency_braking/src/node.cpp

+  });
+
+  if (!has_imu_path && !has_predicted_path) {
+    return missing("any type of path");


Suggested change

return missing("any type of path");

if (use_imu_path_ && use_predicted_trajectory_) {

RCLCPP_INFO_SKIPFIRST_THROTTLE(

get_logger(), *get_clock(), 5000,

"[AEB] At least one path (IMU or predicted trajectory) is required for operation");

}

return false;

@danielsanchezaran
Isn't it sufficient to output "At least one path is required" only when both use_imu_path_ and use_predicted_trajectory_ are true?

@kyoichi-sugahara this check "(use_imu_path_ && use_predicted_trajectory_)" is not really necessary, the AEB requires at least one path (imu or predicted_path) so the lack of at least 1 path should be enough to trigger the message, in the case that, for example the user sets use_imu_path_ to true and use_predicted_trajectory_ to false and there is NO Imu topic, I believe printing this message is not a problem either. I have modified the code to reflect this

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

codecov · 2024-08-23T00:39:33Z

Codecov Report

Attention: Patch coverage is 0% with 12 lines in your changes missing coverage. Please review.

Project coverage is 23.99%. Comparing base (53f7d82) to head (5da5972).
Report is 1 commits behind head on main.

Files	Patch %	Lines
...autoware_autonomous_emergency_braking/src/node.cpp	0.00%	12 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8569      +/-   ##
==========================================
- Coverage   24.00%   23.99%   -0.01%     
==========================================
  Files        1384     1386       +2     
  Lines      102183   102217      +34     
  Branches    38949    38952       +3     
==========================================
+ Hits        24527    24530       +3     
- Misses      75191    75222      +31     
  Partials     2465     2465

Flag	Coverage Δ		*Carryforward flag
differential	`5.93% <0.00%> (?)`
total	`24.00% <ø> (+<0.01%)`	⬆️	Carriedforward from 53f7d82

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

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…autowarefoundation#8569) * make it so AEB works with only one req path type (imu or MPC) Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix missing mpc path return Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add check Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * modify no path msg Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add AEB updated module Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change back msgs and other things Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix name of aeb in sys error monitor Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete old AEB package Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * feat(autonomous_emergency_braking): enable aeb with only one req path (autowarefoundation#8569) * make it so AEB works with only one req path type (imu or MPC) Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix missing mpc path return Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add check Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * modify no path msg Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix(autonomous_emergency_braking): fix debug marker visual bug (autowarefoundation#8611) fix bug by using the collision data keeper Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * docs(autonomous_emergency_braking): add missing params to README (autowarefoundation#8950) add missing params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * ci(pre-commit): autofix --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…autowarefoundation#8569) * make it so AEB works with only one req path type (imu or MPC) Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix missing mpc path return Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add check Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * modify no path msg Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

github-actions bot added the component:control Vehicle control algorithms and mechanisms. (auto-assigned) label Aug 22, 2024

danielsanchezaran added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 22, 2024

danielsanchezaran assigned danielsanchezaran and kyoichi-sugahara Aug 22, 2024

danielsanchezaran marked this pull request as ready for review August 22, 2024 05:18

danielsanchezaran requested review from kyoichi-sugahara, soblin, TakaHoribe and tkimura4 as code owners August 22, 2024 05:18

kyoichi-sugahara reviewed Aug 22, 2024

View reviewed changes

kyoichi-sugahara approved these changes Aug 22, 2024

View reviewed changes

danielsanchezaran added 4 commits August 23, 2024 09:29

make it so AEB works with only one req path type (imu or MPC)

bf40784

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

fix missing mpc path return

a1e1033

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

add check

19caa18

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

modify no path msg

5da5972

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

danielsanchezaran force-pushed the feat/enable-aeb-with-only-one-req-path branch from 09eaf4a to 5da5972 Compare August 23, 2024 00:29

danielsanchezaran enabled auto-merge (squash) August 23, 2024 00:29

danielsanchezaran merged commit d75f875 into autowarefoundation:main Aug 23, 2024
24 of 25 checks passed

danielsanchezaran deleted the feat/enable-aeb-with-only-one-req-path branch August 23, 2024 00:38

danielsanchezaran mentioned this pull request Nov 14, 2024

feat(autonomous_emergency_braking): cherry pick/aeb latest to v4.0.0 tier4/autoware.universe#1643

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feat(autonomous_emergency_braking): enable aeb with only one req path #8569

feat(autonomous_emergency_braking): enable aeb with only one req path #8569

danielsanchezaran commented Aug 22, 2024

github-actions bot commented Aug 22, 2024 •

edited

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kyoichi-sugahara Aug 22, 2024

danielsanchezaran Aug 22, 2024

codecov bot commented Aug 23, 2024 •

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-    return missing("any type of path");
+    if (use_imu_path_ && use_predicted_trajectory_) {
+      RCLCPP_INFO_SKIPFIRST_THROTTLE(
+        get_logger(), *get_clock(), 5000,
+        "[AEB] At least one path (IMU or predicted trajectory) is required for operation");
+    }
+    return false;

feat(autonomous_emergency_braking): enable aeb with only one req path #8569

feat(autonomous_emergency_braking): enable aeb with only one req path #8569

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danielsanchezaran commented Aug 22, 2024

Description

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How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

github-actions bot commented Aug 22, 2024 • edited Loading

kyoichi-sugahara Aug 22, 2024

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