18.0.0

Abstract

Previously, a new feature was implemented to detect collisions between NPCs and Autoware (or other NPCs) based on the predicted future trajectories of NPCs.
After conducting user interviews regarding this feature, we received feedback requesting improvements to the way NPC future trajectory widths are specified.
This PR addresses that feedback and also includes several minor bug fixes.

Details

The originally implemented trajectory_based_detection_width parameter overrode a global value and could not be configured per NPC, resulting in limited flexibility.
According to user feedback, this parameter was rarely used, and rather than overriding the vehicle width directly, it would be sufficient to apply an offset to it.

Based on this suggestion, the implementation has been updated so that the future trajectory width is no longer overridden, but instead adjusted by an offset from the default vehicle width.
The newly introduced parameter, trajectory_based_detection_offset, accepts values ranging from -vehicle_width to infinity, with appropriate filtering applied.

Minor Bug Fixes

• It was discovered that trajectory_based_detection_width exhibited unexpected behavior for entities that appeared mid-simulation.
  This issue has been verified to be resolved by replacing it with trajectory_based_detection_offset.
• Fixed an issue where options were not properly propagated to the visualization node.

References

• tier4/sim_evaluation_tools#580 (comment)

Destructive Changes

The now-unnecessary trajectory_based_detection_width has been removed.
Since this feature was optional and has only been released for a short period, the impact is expected to be minimal.
Moreover, as described above, trajectory_based_detection_width contained serious bugs, making its removal the appropriate decision.

For these reasons, replacing trajectory_based_detection_width with trajectory_based_detection_offset is a reasonable decision to avoid future technical debt.

Known Limitations

N/A

Related Issues