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feat(map_based_predictor): add path cut for road border - #3181

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feature/map_based_predictor_cut_pedestrian_path_with_road_border
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feat(map_based_predictor): add path cut for road border#3181
ohtt wants to merge 34 commits into
feat/v0.64/e2efrom
feature/map_based_predictor_cut_pedestrian_path_with_road_border

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@ohtt

@ohtt ohtt commented Jul 13, 2026 •
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Summury

VRU（歩行者・自転車）の予測経路に対し、地図上の境界を考慮した経路カットを追加。

predictor_vru に2つのサブモジュールを新規追加。いずれも経路中心線ではなくオブジェクトのフットプリントで交差を判定する。

  • RoadBorderModule — road_border linestring をフットプリントが跨ぐ地点での減速度依存カット。クラス別の最大減速度で境界手前に停止できる場合のみ経路を切り詰める。停止できない場合、または横断歩道での横断の場合は、横断するものとみなして経路を維持。
  • GuardRailModule — guard_rail linestring をフットプリントが跨ぐ地点での無条件（強制）カット。
  • 共通部分を一旦footprint_path_cut　に移植

test

Road border オレンジの境界線
pred_00808

Gurad rail　水色の境界線
pred_00735

Must pass
https://evaluation.ci.tier4.jp/evaluation/reports/e06f3618-e851-5776-9e39-f561a21e6820?project_id=x2_dev

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github-actions Bot commented Jul 13, 2026

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@ohtt Thank you for contributing to TIER IV E2E branch! Edit the checklist below and check the boxes as you complete the items.

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@tier4-autoware-public-bot tier4-autoware-public-bot Bot added beta/v0.64 Base branch: beta/v0.64 diffusion_planner Product: diffusion_planner labels Jul 13, 2026
@ohtt ohtt changed the title add path cut for road border feat(map_based_predictor): add path cut for road border Jul 13, 2026
@ohtt ohtt added the run:build-and-test-differential After beta/v0.41 label Jul 15, 2026
@ohtt
ohtt marked this pull request as ready for review July 15, 2026 02:28
@ohtt
ohtt requested a review from satoshi-ota July 15, 2026 02:31
satoshi-ota
satoshi-ota reviewed Jul 15, 2026
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Comment thread perception/autoware_map_based_prediction/lib/predictor_vru/road_border.cpp Outdated
@mergify mergify Bot mentioned this pull request Jul 16, 2026
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satoshi-ota
satoshi-ota reviewed Jul 16, 2026
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Comment thread perception/autoware_map_based_prediction/lib/predictor_vru/road_border.cpp Outdated
Comment thread perception/autoware_map_based_prediction/lib/predictor_vru/road_border.cpp Outdated
collect_crosswalk_polygons(*lanelet_map_ptr_, search_box, crosswalk_corridor_extend_margin);

const std::vector<autoware_utils_geometry::LineString2d> candidates_removed_crosswalk_area =
remove_lines_overlapping_polygons(candidates, crosswalk_corridors);

@satoshi-ota satoshi-ota Jul 16, 2026

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L218-229までの処理が基本的にすべての歩行者・自転車に対して実行されると思うのですが、処理時間が気になるところです。これらの処理は一度実行してすべての物体に対して結果を使いまわすこともできる用に思っていますが、そのように実装することは難しいですか？

map based predictionの処理内容も増えてきたので実行時間についてはARTで定期的に確認をお願いいたします。

@satoshi-ota satoshi-ota Jul 16, 2026

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地図が大規模になってきたときに、lanelet_map_ptr_などを用いた探索で処理時間が爆発しないかが懸念です。

@ohtt ohtt Jul 16, 2026

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先にCutされたLineStringを準備しておく手法も考えたのですが、そうすると
collect_candidate_road_border_linestringsの中のroad_border_layer.lineStringLayer.search(search_box);が使えなくなる、（R-treeを使った高速APIが使えなくなる）ので現状の実装にしていました。

編集済みのcandidates_removed_crosswalk_areaを持つlanelet::LaneletMapがを新たに生成できればいいのですが、それが可能かどうかは調査が必要なので調査します。

@ohtt ohtt Jul 16, 2026 •
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ちなみに私のPC上での実測は
candidates=0で3µs
candidates>0で14µs
ほどでした

@ohtt ohtt Jul 16, 2026 •
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別のRtreeを初回に一度だけ作る実装に変更しました。
変更後は
candidates=0で0.41µs
candidates>0で0.73µs

@ohtt
ohtt force-pushed the feature/map_based_predictor_cut_pedestrian_path_with_road_border branch from 4091852 to 2ae5415 Compare July 16, 2026 06:10
@ohtt
ohtt force-pushed the feature/map_based_predictor_cut_pedestrian_path_with_road_border branch from 2ae5415 to 284449f Compare July 16, 2026 06:14
ohtt added 3 commits July 16, 2026 15:17
@ohtt
Merge branch 'feat/v0.64/e2e' into feature/map_based_predictor_cut_pe…
288a4b0 
…destrian_path_with_road_border
@ohtt
refactor , change to use LaneletMapConstUPtr
3193de6
@ohtt
Merge branch 'feature/map_based_predictor_cut_pedestrian_path_with_ro…
9152e54 
…ad_border' of github.com:tier4/autoware_universe into feature/map_based_predictor_cut_pedestrian_path_with_road_border
@sonarqubecloud

sonarqubecloud Bot commented Jul 16, 2026

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Quality Gate Passed Quality Gate passed

Issues
13 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

@ohtt
ohtt force-pushed the feature/map_based_predictor_cut_pedestrian_path_with_road_border branch from 60a7353 to 84845bd Compare July 16, 2026 08:30
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Tick the box to add this pull request to the merge queue (same as @mergifyio queue).

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@satoshi-ota
satoshi-ota self-requested a review July 17, 2026 02:17
satoshi-ota
satoshi-ota requested changes Jul 17, 2026
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一部追加で対応が必要なシーンが見つかりましたので、その実装を私の方で進めます。

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