feat(crosswalk_traffic_light_estimator): add new package for crosswalk traffic light signals estimation

[satoshi-ota]

Description

Now, autoware supports and uses only vehicle traffic light signals, but I think if perception module detected or estimated not only vehicle traffic light signals but also crosswalk traffic light signals, behavior planning module could make better decision. (e.g. crosswalk module)

So, in this PR, I added traffic_light_estimater node in order to get crosswalk traffic light singals.

This new node subscribes

• classified vehicle traffic light signals(autoware_auto_perception_msgs::msg::TrafficSignalArray)
• map(autoware_auto_mapping_msgs::msg::HADMapBin)
• route(autoware_auto_planning_msgs::msg::PathWithLaneId)

and publishes

• estimated crosswalk and vehicle traffic light signals(autoware_auto_perception_msgs::msg::TrafficSignalArray)

Algorithm

Situation1

If traffic between pedestrians and vehicles is controlled by traffic signals, and signals of crosswalks intersecting STRAIGHT lanelets with TrafficLight::GREEN traffic state, the crosswalk traffic light signals prevent pedestrians from crossing, so in this situation, this node output crosswalk signals as TrafficLight::RED.

Situation2

If traffic between pedestrians and vehicles is controlled by traffic signals, and signals of crosswalks intersecting different turn direction lanelets (e.g. straight and left, left and right...) with TrafficLight::GREEN traffic state, the crosswalk traffic light signals prevent pedestrians from crossing, so in this situation, this node output crosswalk signals as TrafficLight::RED.

Related links

• Use crosswalk traffic light signal in behavior planning module #937

Tests performed

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[codecov]

Codecov Report

Merging #944 (9daaafb) into main (940f912) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #944      +/-   ##
========================================
- Coverage   9.59%   9.57%   -0.03%     
========================================
  Files       1042    1043       +1     
  Lines      71835   71981     +146     
  Branches   15588   15588              
========================================
- Hits        6890    6889       -1     
- Misses     58707   58853     +146     
- Partials    6238    6239       +1     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.57% <ø> (-0.01%)	⬇️	Carriedforward from b4703dc

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

Impacted Files	Coverage Δ
...ion/crosswalk_traffic_light_estimator/src/node.cpp	0.00% <0.00%> (ø)
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	⬇️

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[satoshi-ota]

• fix typo estimater -> estimator
• write README

[mitsudome-r]

Are you still working on this PR? (Just checking because there were no updates for a month)

[satoshi-ota]

@mitsudome-r

Are you still working on this PR? (Just checking because there were no updates for a month)

Sorry for the late reply 🙇 I had been testing the logic at odaiba, and confirmed that the node works as expected 👍
Now, I'm prepairing this PR for review.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-944/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-944/perception/crosswalk_traffic_light_estimator/

[satoshi-ota]

TEST at kashiwanoha

WHITE CROSSWALK: related pedestrian's traffic signal is RED (crosswalk module don't look)
RED CROSSWALK: related pedestrian's traffic signal is UNKNOWN (crosswalk module look and stop when objects cross the road)

• basic intersection

simplescreenrecorder-2022-07-01_13.26.01.mp4

simplescreenrecorder-2022-07-01_11.59.47.mp4

• T intersection

simplescreenrecorder-2022-07-01_12.01.14.mp4

simplescreenrecorder-2022-07-01_13.13.28.mp4

[yukkysaito]

@satoshi-ota I wanna change the package name. how about crosswalk_traffic_light_estimater?

[satoshi-ota]

@satoshi-ota I wanna change the package name. how about crosswalk_traffic_light_estimater?

@yukkysaito OK, I agree with you 👍 I'll fix it this PR and autoware_launch.

[satoshi-ota]

TEST at odaiba

WHITE CROSSWALK: related pedestrian's traffic signal is RED (crosswalk module don't look)
RED CROSSWALK: related pedestrian's traffic signal is UNKNOWN (crosswalk module look and stop when objects cross the road)

simplescreenrecorder-2022-07-01_13.08.37.mp4

simplescreenrecorder-2022-07-01_12.59.00.mp4

simplescreenrecorder-2022-07-01_12.57.18.mp4

simplescreenrecorder-2022-07-01_12.55.51.mp4

[satoshi-ota]

@yukkysaito I fixed package name in 9daaafb

[yukkysaito]

LGTM