feat(freespace_planner): parking module enhancement #1935
+468
−40
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…parking module. Signed-off-by: Yu-Cheng Liu <[email protected]>
…solution grid map. Signed-off-by: Yu-Cheng Liu <[email protected]>
…r improved freespace_planner module. Signed-off-by: Yu-Cheng Liu <[email protected]>
…Liu-TD/autoware_universe into feat/CAAD_parking_enhancement
…orithms Signed-off-by: Yu-Cheng Liu <[email protected]>
…ning_algorithms" This reverts commit 21478e2.
…se_utils with autoware_utils Signed-off-by: Yu-Cheng Liu <[email protected]>
YCLiu-TD
requested review from
isamu-takagi,
kosuke55,
soblin,
mitsudome-r,
TakaHoribe,
takayuki5168,
knzo25,
YoshiRi and
yukkysaito
as code owners
github-actions
bot
added
component:planning
type:documentation
component:perception
labels
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
…tions for departing and arriving maneuvers during reparking to achieve earlier alignment. Signed-off-by: Yu-Cheng Liu <[email protected]>
…Liu-TD/autoware_universe into feat/CAAD_parking_enhancement
…the arrival state when the re-parking limit is reached. Signed-off-by: Yu-Cheng Liu <[email protected]>
…ance to reparking_distance to improve readability. Signed-off-by: Yu-Cheng Liu <[email protected]>
…er_converged temporally Signed-off-by: NickYang-Turing <[email protected]>
…le names and explanations. Signed-off-by: Yu-Cheng Liu <[email protected]>
Signed-off-by: NickYang-Turing <[email protected]>
…function with node expansion logic to encourage alignment with the goal orientation during vehicle pull-out phase. Signed-off-by: Yu-Cheng Liu <[email protected]>
…n_out_distance_ to reparking_distance_ Signed-off-by: Yu-Cheng Liu <[email protected]>
…r is_steer_converged temporally" This reverts commit 43e39f2.
This reverts commit 9e887bb.
|
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Provide two different-stage planners to assist the Freespace Planner module in generating parking-friendly paths, aiming to reduce the final angular deviation between the vehicle and the designated goal pose. These consist of two main enhancements: an improved heuristic function for the A* algorithm that enables the planner to generate more trackable paths, and a reparking function as a recovery mechanism when the vehicle deviates from the target orientation during parking. An additional update includes the implementation of a grid map resolution switching feature.
Improvement A* heuristic function
Introduce a final segment threshold range, within which three additional cost weights are considered: the pose deviation between the vehicle and the goal, the lateral distance to the goal’s extension line, and the steering angle change between steps. This encourages the planner to generate a straighter reverse path within the final segment, reducing the difficulty for the controller to track the path and minimizing steering adjustments near the goal, thereby improving parking precision.
Comparison of planned paths between the baseline method and the proposed method.
Reparking function
If the vehicle's orientation deviates from the goal by more than ±1 degree after the initial parking attempt, the system triggers a reparking mechanism. This mechanism uses the A* algorithm to generate a new path that first moves the vehicle away from the goal to realign, then approaches the goal again—mimicking human-like parking behavior through iterative fine-tuning. The system allows up to three reparking attempts per parking cycle. If any of the three attempts results in an orientation error within ±1 degree, the parking is considered successful. If all three attempts fail to meet this criterion, the system returns a message indicating the maximum number of parking attempts has been reached and stops triggering further replanning, marking the end of the parking cycle.
The reparking mechanism generates a complete path that first moves the vehicle away from the goal for alignment correction and then guides it back toward the goal for re-entry.
High resolution occupancy grid map
The default resolution used by the perception module is 0.5 meters, and an additional grid map with a finer 0.25-meter resolution is introduced. When planning fails with the default resolution, the system switches to the finer grid map for path search, reducing the risk of obstacle misclassification caused by coarse grid sizes.
map resolution 0.5m
map resolution 0.25m
Test map
parking.zip
Related links
Parent Issue:
How was this PR tested?
This pull request was tested in Psim.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.