Support Bus Stop Behaviors

[mehmetdogru]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

This issue created to host and track bus stop related PRs

PRs:

general:

• feat: add definition for bus stop lanelets autoware_lanelet2_extension#72
• feat(start_planner_module): replace getArcCoordinates with getArcCoordinatesOnEgoCenterline #10964

prioritize bus stop lanelet as start lanelet:

❗ PRs below needs to be built together and must be merged in the order as below.
❓ (Please let me know if I should apply the same changes in autoware_mission_planner_universe to autoware_core/autoware_mission_planner as well 🙇 )

1. feat: add getLaneletAngleOnEgoCenterline autoware_lanelet2_extension#71
2. feat(route_handler): prioritize bus stop lanelet as start lanelet autoware_core#570
3. feat(mission_planner): add param to prioritize bus stop lanelet as start lanelet autoware_launch#1548
4. feat(mission_planner_universe): prioritize bus stop lanelet as start lanelet #10965

pul-out from bus stop

• feat(start_planner_module): register start_planner module in bus stop #10970
• fix(start_planner,boundary_departure_checker): remove micro inner rings after bg::union_ #10971

safety check during pull-out

• feat(start_planner_module,bpp_common): safety check for bus stop pull out #10975
• feat(start_planner_module): add param to prevent departure if the previous traffic light (v2i) is green in high speed roads autoware_launch#1550
• feat(start_planner_module): prevent departure if the previous traffic light (v2i) is green in high speed roads #10978

pull-out signalling

• feat(start_planner_module): add min_bus_stop_pull_out_turn_signal_distance autoware_launch#1549
• feat(start_planner_module): support bus stop pull out signalling #10977

---

PRs will follow the design outlined below:

Purpose

Support some features like pull-over and pull-out behavior for bus stops that has custom centerline

Possible approaches

Modify start_planner and goal_planner packages to support bus stops

Definition of done

• Support pull-over signalling for bus stops
• Support pull-out behavior (e.g. signalling & safety check) for bus stops

[soblin]

At the first glance, I thought we can just substitute intersection lanelet (the lanelet with turn_direction tag) for achieving behavior_planning/motion_planning, and the proposed bus_stop tag for the lanelet is used only for manually setting the goal in Psim on Rviz GUI during development. In operation we will use routing service, in which case route segment is directly set to mission_planner. Can you elaborate why we need this tag in service operation ?

[kyoichi-sugahara]

@mehmetdogru
Thank you for the proposal nad changes 😍

Is the motivation for wanting to run start_planner in the bus stop area because currently start_planner doesn't activate when departing from a bus stop that is on a road?

Please let me confirm whether related changes are to handle cases where regulatory element (subtype: bus_stop_area) references lanelet's subtype is road not road shoulder.

[mehmetdogru]

At the first glance, I thought we can just substitute intersection lanelet (the lanelet with turn_direction tag) for achieving behavior_planning/motion_planning, and the proposed bus_stop tag for the lanelet is used only for manually setting the goal in Psim on Rviz GUI during development. In operation we will use routing service, in which case route segment is directly set to mission_planner. Can you elaborate why we need this tag in service operation ?

Thank you @soblin for your comment.

IMO, there are couple of reasons I can think of why we would need bus_stop tag and why we need to use start_planner instead of `intersection_module. So please let me explain why I think so:

1. The use case is much more similar to start_planner than intersection meaning we need to consider cars approaching behind like in start_planner before we pull out
2. We are not technically in an intersection, we are just pulling out so again semantically start_planner as intended is more appropriate
3. Intersection module does not perform well on overlapping lanelets as it can be the case for bus stop most of the time. (As I tried to explain with the picture in description why we need overlapping lanelets is mainly to be able to use custom centerlines for bus stop lanelets)
4. I will be creating more PRs today, sorry they are not in the issue yet but there are some specific requirements for signalling and starting the drive related to this task as well so it is quite challenging and less tidy to achieve those tasks with using intersection module

edit @soblin: Sorry that I forgot to answer bus_stop lanelet usage in mission_planner and route_handler. You are right that if we using a routing service we do not need these changes. However testing in Rviz and also using with scenarios is important IMO. Also I guess maybe it is better to make this kind of choices in autoware since it is also optional meaning user can turn it on and off. What I am trying to say that if the motivation would be to use routing service, then why we need a detailed mission_planner at all 😄

[mehmetdogru]

Thank you for the proposal nad changes 😍

Is the motivation for wanting to run start_planner in the bus stop area because currently start_planner doesn't activate when departing from a bus stop that is on a road?

Please let me confirm whether related changes are to handle cases where regulatory element (subtype: bus_stop_area) references lanelet's subtype is road not road shoulder.

Thank you for your comment @kyoichi-sugahara 😊
Please forgive me if I understood your question wrong and please do let me know if my reply does not answer your question 🙇

Technically bus_stop_area reg element is used for goal_planner to be able to contain candidate goal poses rather than start_planner. However bus_stop lanelet tag serves the purpose of defining bus stop lanelets so that pull out safety check and signalling behavior can be adjusted. start_planner does not run if ego is on centerline but if ego is on bus_stop lanelet, we need to perform yield if necessary (safety check) and signal when we pull out even though ego is on a centerline.