From b69241f6659c042a05bc9362c3d254e25fbaa290 Mon Sep 17 00:00:00 2001 From: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Date: Wed, 15 Jan 2025 18:04:56 +0900 Subject: [PATCH] chore(autoware_crosswalk_traffic_light_estimator): fix docs (#9822) * fix docs Signed-off-by: MasatoSaeki * fix docs Signed-off-by: MasatoSaeki * add tlr output image Signed-off-by: MasatoSaeki * modify sentense Signed-off-by: MasatoSaeki * modify sentense Signed-off-by: MasatoSaeki * refactor readme Signed-off-by: MasatoSaeki * fix docs Signed-off-by: MasatoSaeki * fix Signed-off-by: MasatoSaeki * style(pre-commit): autofix --------- Signed-off-by: MasatoSaeki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../README.md | 81 ++++++++++++++---- .../images/flashing_state.png | Bin 0 -> 24574 bytes .../images/traffic_light.png | Bin 0 -> 54297 bytes 3 files changed, 63 insertions(+), 18 deletions(-) create mode 100644 perception/autoware_crosswalk_traffic_light_estimator/images/flashing_state.png create mode 100644 perception/autoware_crosswalk_traffic_light_estimator/images/traffic_light.png diff --git a/perception/autoware_crosswalk_traffic_light_estimator/README.md b/perception/autoware_crosswalk_traffic_light_estimator/README.md index b14fefbd43beb..1b24b115f5812 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/README.md +++ b/perception/autoware_crosswalk_traffic_light_estimator/README.md @@ -1,40 +1,85 @@ -# crosswalk_traffic_light_estimator +# autoware_crosswalk_traffic_light_estimator ## Purpose -`crosswalk_traffic_light_estimator` is a module that estimates pedestrian traffic signals from HDMap and detected vehicle traffic signals. +`autoware_crosswalk_traffic_light_estimator` estimates pedestrian traffic signals which can be summarized as the following two tasks: + +- Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline. +- Estimate whether pedestrian traffic signals are flashing and modify the result. + +This module works without `~/input/route`, but its behavior is outputting the subscribed results as is. ## Inputs / Outputs ### Input -| Name | Type | Description | -| ------------------------------------ | ------------------------------------------------ | ------------------ | -| `~/input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map | -| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route | -| `~/input/classified/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | classified signals | +| Name | Type | Description | +| ------------------------------------ | ----------------------------------------------------- | ------------------ | +| `~/input/vector_map` | autoware_map_msgs::msg::LaneletMapBin | vector map | +| `~/input/route` | autoware_planning_msgs::msg::LaneletRoute | optional: route | +| `~/input/classified/traffic_signals` | autoware_perception_msgs::msg::TrafficLightGroupArray | classified signals | ### Output -| Name | Type | Description | -| -------------------------- | ------------------------------------------------------- | --------------------------------------------------------- | -| `~/output/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightGroupArray` | output that contains estimated pedestrian traffic signals | +| Name | Type | Description | +| -------------------------- | ----------------------------------------------------- | --------------------------------------------------------- | +| `~/output/traffic_signals` | autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals | ## Parameters -| Name | Type | Description | Default value | -| :---------------------------- | :------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| `use_last_detect_color` | `bool` | If this parameter is `true`, this module estimates pedestrian's traffic signal as RED not only when vehicle's traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian's traffic signal as UNKNOWN.) If this parameter is `false`, this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian's traffic signal as RED.) | `true` | -| `last_detect_color_hold_time` | `double` | The time threshold to hold for last detect color. | `2.0` | +| Name | Type | Description | Default value | +| :---------------------------- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| `use_last_detect_color` | bool | If this parameter is `true`, this module estimates pedestrian's traffic signal as RED not only when vehicle's traffic signal is detected as GREEN/AMBER but also when detection results change GREEN/AMBER to UNKNOWN. (If detection results change RED or AMBER to UNKNOWN, this module estimates pedestrian's traffic signal as UNKNOWN.) If this parameter is `false`, this module use only latest detection results for estimation. (Only when the detection result is GREEN/AMBER, this module estimates pedestrian's traffic signal as RED.) | true | +| `last_detect_color_hold_time` | double | The time threshold to hold for last detect color. The unit is second. | 2.0 | +| `last_colors_hold_time` | double | The time threshold to hold for history detected pedestrian traffic light color. The unit is second. | 1.0 | ## Inner-workings / Algorithms +When the pedestrian traffic signals **are detected** by perception pipeline + +- If estimates the pedestrian traffic signals are flashing, overwrite the results +- Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(`no detection`, `backlight`, or `occlusion`) + +When the pedestrian traffic signals **are NOT detected** by perception pipeline + +- Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route + +### Estimate whether pedestrian traffic signals are flashing + +```plantumul +start +if (the pedestrian traffic light classification result exists)then + : update the flashing flag according to the classification result(in_signal) and last_signals + if (the traffic light is flashing?)then(yes) + : update the traffic light state + else(no) + : the traffic light state is the same with the classification result +if (the classification result not exists) + : the traffic light state is the same with the estimation + : output the current traffic light state +end +``` + +#### Update flashing flag + +
+ +
+ +#### Update traffic light status + +
+ +
+ +### Estimate the color of pedestrian traffic signals + ```plantuml start -:subscribe detected traffic signals & HDMap; +:subscribe detected traffic signals, HDMap, and route; :extract crosswalk lanelets from HDMap; -:extract road lanelets that conflicts crosswalk; +:extract road lanelets that conflicts crosswalk from route; :initialize non_red_lanelets(lanelet::ConstLanelets); if (Latest detection result is **GREEN** or **AMBER**?) then (yes) :push back non_red_lanelets; @@ -58,7 +103,7 @@ end If traffic between pedestrians and vehicles is controlled by traffic signals, the crosswalk traffic signal maybe **RED** in order to prevent pedestrian from crossing when the following conditions are satisfied. -### Situation1 +#### Situation1 - crosswalk conflicts **STRAIGHT** lanelet - the lanelet refers **GREEN** or **AMBER** traffic signal (The following pictures show only **GREEN** case) @@ -70,7 +115,7 @@ If traffic between pedestrians and vehicles is controlled by traffic signals, th -### Situation2 +#### Situation2 - crosswalk conflicts different turn direction lanelets (STRAIGHT and LEFT, LEFT and RIGHT, RIGHT and STRAIGHT) - the lanelets refer **GREEN** or **AMBER** traffic signal (The following pictures show only **GREEN** case) diff --git a/perception/autoware_crosswalk_traffic_light_estimator/images/flashing_state.png b/perception/autoware_crosswalk_traffic_light_estimator/images/flashing_state.png new file mode 100644 index 0000000000000000000000000000000000000000..7686f3842e75c92cfd27f9de08ef1ecf6eb3651f GIT binary patch literal 24574 zcmd43WmFtdw>C&ZfB?bW-Q696LvVL@cemg!!L^a#8r&hcySr;+jXTqM@4espW@gR5 znYE^Vbam}Ib!4A?PVN2dr#n(nUJ?Ng7Y+gf0zq0zOc?^=GXVU(<0~}yb0)Sr9DMrX zA|kE&6@2)9HH`pYzlPMH*n2k&=^$+o8Nu z`gs_lbZBi*%w$xD#JbCDw_?ty_x$4nk4jC7c2_K^F&xwO=1+M`&$mZXXp+Ofd%7lE z66Jjg`g^q|SOYw5bN2N21^8U}9I`$52|citc6D_Tl7t|Od?oQ--tI#D{`KF*E4$P# z&3_3)$pPSdA;<+9{~wFEJZnx*dPBxi9jl)?~=@vhx9(%{-=$ 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