[Dense-Urban-ODD] Improve cruise planner handling to a VRU maneuver overlapping with ego vehicle trajectory

[ahmeddesokyebrahim]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Part of:

• [Autoware Labs] Dense Urban ODD - Reviewing and Tracking Failed Scenarios #7485

Dense Urban ODD Characteristics

• Low-Speed Driving: Typical speeds around 15 km/h.
• Complex Traffic Elements: Includes dense traffic with various dynamic interactions.
• Dynamic Agents: Frequent encounters with moving pedestrians and cyclists.
• Bidirectional Movement: Vehicles operate in lanes supporting bidirectional flow.
• Traffic Rule Non-compliance: Other road users may exhibit behaviors such as:
  • Driving in the wrong direction.
  • Cutting in unexpectedly from off-road areas.
  • Jaywalking pedestrians.
  • Improper overtaking by drivers.
  • Dangerous and sudden maneuvers by VRUs that is overlapping with ego vehicle trajectory

In the context of Dense Urban ODD, we need to fine-tune the existing features of the obstacle_cruise_planner and potentially develop new features to achieve the characteristics mentioned above.

Purpose

Bicycle driving through ego vehicle trajectory "UC-VRU-002-0002"

The following image describes the scenario where

• a bicycle is on the ego lane side (right or left)
• while ego vehicle is approaching, the bicylce start to move in a way overlapping with ego trajectory.
  

The purpose of improvement in the following cases is to slow-down for overtaking bicycle until enough space exists to overtake

Bicycle moving from right side of ego lane

2024-07-09.16-05-17.mp4

Bicycle moving from left side of ego lane

2024-07-09.16-06-27.mp4

Possible approaches

The obstacle_cruise_planner should be capable of handling the situations mentioned above.

• The primary goal will be to tune the parameters of the package to achieve the success of above scenarios.
• If tuning the parameters is not enough for having successful scenarios, the obstacle_cruise_planner implementation should be improved.

Definition of done

• Create a proposal for changing parameters.
• If the package is inadequate to handle scenarios, propose improvements.
• Ensure all scenarios for Dense Urban ODD pass.

[ahmeddesokyebrahim]

Closing this issue as completed after merging the relevant PR.