feat(planning_evaluator, control_evaluator): cherry-pick PRs for new evaluator features to beta/v0.48#2608
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xtk8532704 wants to merge 13 commits intobeta/v0.48from
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feat(planning_evaluator, control_evaluator): cherry-pick PRs for new evaluator features to beta/v0.48#2608xtk8532704 wants to merge 13 commits intobeta/v0.48from
xtk8532704 wants to merge 13 commits intobeta/v0.48from
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…ation#10991) Signed-off-by: t4-adc <grp-rd-1-adc-admin@tier4.jp> Co-authored-by: t4-adc <grp-rd-1-adc-admin@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…efoundation#11103) fix(control_evaluator): Publish dist to uncrossable boundary Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…s moving (autowarefoundation#11125) * add output_metrics_only_moving Signed-off-by: temkei.kem <1041084556@qq.com> * pre-commit Signed-off-by: temkei.kem <1041084556@qq.com> * use emplace_back Signed-off-by: temkei.kem <1041084556@qq.com> * fix build failures Signed-off-by: temkei.kem <1041084556@qq.com> --------- Signed-off-by: temkei.kem <1041084556@qq.com> Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…refoundation#11094) * feat(control_evaluator): add longitudinal_velocity evaluation Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…calculation (autowarefoundation#11337) * fix stop condition Signed-off-by: xtk8532704 <1041084556@qq.com> * fix include Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…efoundation#11402) * add lateral_acceleration metric Signed-off-by: t4-adc <grp-rd-1-adc-admin@tier4.jp> * rename to _abs Signed-off-by: t4-adc <grp-rd-1-adc-admin@tier4.jp> --------- Signed-off-by: t4-adc <grp-rd-1-adc-admin@tier4.jp> Co-authored-by: t4-adc <grp-rd-1-adc-admin@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…dation#11138) Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…_ttc metric (autowarefoundation#11478) * tmp save Signed-off-by: xtk8532704 <1041084556@qq.com> * refactor and pre-commit Signed-off-by: xtk8532704 <1041084556@qq.com> * tmp save Signed-off-by: xtk8532704 <1041084556@qq.com> * fix start point bug and apply deceleration lower bound Signed-off-by: xtk8532704 <1041084556@qq.com> * remove unused launch parm Signed-off-by: xtk8532704 <1041084556@qq.com> * polish code Signed-off-by: xtk8532704 <1041084556@qq.com> * fix unit tests Signed-off-by: xtk8532704 <1041084556@qq.com> * update readme Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
…dation#11761) * tmp save Signed-off-by: xtk8532704 <1041084556@qq.com> * remove some draft code Signed-off-by: xtk8532704 <1041084556@qq.com> * add new implements Signed-off-by: xtk8532704 <1041084556@qq.com> * polish code, need to update readme Signed-off-by: xtk8532704 <1041084556@qq.com> * pre-commit Signed-off-by: xtk8532704 <1041084556@qq.com> * update readme Signed-off-by: xtk8532704 <1041084556@qq.com> * fix cppcheck Signed-off-by: xtk8532704 <1041084556@qq.com> * fix unit test bug, and add test cases for ttc, drac. Signed-off-by: xtk8532704 <1041084556@qq.com> * cry to fix ci building error Signed-off-by: xtk8532704 <1041084556@qq.com> * refactor code Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>
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fix pet bug Signed-off-by: xtk8532704 <1041084556@qq.com>
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…2124) * fix drac calculation Signed-off-by: xtk8532704 <1041084556@qq.com> * fix unit test Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com>
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Cherry-pick the following PRs for new metrics and bug fixes.
ControlEvaluator
steering_angle_absmetricuncrossable_boundary_distance, instead of publishing only when a boundary is found.output_metrics_only_movingfield. Metrics in this list will only be included in the JSON output file's statistics when the ego is moving.longitudinal_velocity_deviationmetriclateral_acceleration_absmetricPlanningEvaluator
obstacle_ttc.obstacle_ttcandobstacle_distancecalculation to consider the footprint instead of only trajectory points.DRAC(Deceleration Rate to Avoid Collision),PET(Post Encroaching Time)obstacle.collision_thr_mtocollision_thr_m, add some other parameters to control obstacle metrics` calculation behaviors.worst_onlyto True.obstacle_petcalculation bug.obstacle_draccalculation bug.Those PR do not affect Autoware's performance.