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fix(lane_change): use current lane for num to preferred lane input #2615
fix(lane_change): use current lane for num to preferred lane input #2615
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Codecov ReportBase: 11.48% // Head: 11.42% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2615 +/- ##
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- Coverage 11.48% 11.42% -0.06%
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Files 1271 1272 +1
Lines 88503 88909 +406
Branches 23320 23625 +305
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+ Hits 10161 10162 +1
- Misses 67572 67951 +379
- Partials 10770 10796 +26
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@zulfaqar-azmi-t4 I suggest having a check if these parameters meet the condition. If not, it'd be better to modify the parameter automatically with some warnings.
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Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
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Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
@TakaHoribe |
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All comments are addressed. LGTM.
…utowarefoundation#2615) * fix(lane_change): use current lane for num to preferred lane input Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix lane change distance from deadend Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Make separate function to compute resampling interval Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Change default config Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Make phase info data structure Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Added error for finish judge buffer Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Fix rebase Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * ci(pre-commit): autofix * warn user of the modified values Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* fix(behavior_path_planner): lane change check default parameters (autowarefoundation#2575) Signed-off-by: Muhammad Zulfaqar <[email protected]> Signed-off-by: Muhammad Zulfaqar <[email protected]> * feat(lane_change): update path generation logic to consider lateral jerk and lateral acceleration (autowarefoundation#2428) * [lane_change] update path generation to handle lateral acceleration limit Signed-off-by: Takamasa Horibe <[email protected]> * remove unused code Signed-off-by: Takamasa Horibe <[email protected]> * remove unused code & fix precommit Signed-off-by: Takamasa Horibe <[email protected]> * update doc Signed-off-by: Takamasa Horibe <[email protected]> * update docs Signed-off-by: Takamasa Horibe <[email protected]> * update doc Signed-off-by: Takamasa Horibe <[email protected]> * update doc Signed-off-by: Takamasa Horibe <[email protected]> * update doc Signed-off-by: Takamasa Horibe <[email protected]> * move path_shifter implementation to cpp Signed-off-by: Takamasa Horibe <[email protected]> * Update planning/behavior_path_planner/src/scene_module/utils/path_shifter.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/behavior_path_planner_path_generation.md Co-authored-by: Zulfaqar Azmi <[email protected]> * update doc link Signed-off-by: Takamasa Horibe <[email protected]> * update doc Signed-off-by: Takamasa Horibe <[email protected]> * remove unused code Signed-off-by: Takamasa Horibe <[email protected]> * add common min distance computation Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * rearrange config and rework min distance Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * revert some changes Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * remove warning Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/behavior_path_planner_path_generation.md Co-authored-by: Fumiya Watanabe <[email protected]> * Update planning/behavior_path_planner/behavior_path_planner_path_generation.md Co-authored-by: Fumiya Watanabe <[email protected]> * fix spell check Co-authored-by: Fumiya Watanabe <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> * feat(behavior_path_planner): abort lane change function (autowarefoundation#2359) * feat(behavior_path_planner): abort lane change function Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * change Revert -> Cancel Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Remove some unwanted functions and and STOP state Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * update steering factor (accidentally removed) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * include is_abort_condition_satisfied_ flag Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * use only check ego in current lane Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Revert "use only check ego in current lane" This reverts commit 4f97408. * ci(pre-commit): autofix * use only check ego in current lane Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * improve isAbortConditionSatisfied by using ego polygon check Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * add lateral jerk and path doesn't keep on updating anymore Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * parameterized all abort related values Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * rename abort_end -> abort_return Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix some parameter issue Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * check if lane change distance is enough after abort Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * improve the code flow of isAbortConditionSatisfied Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Place warning message in corresponding states. Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix clock and rebase Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * remove accel and jerk parameters Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * remove unnecessary parameters Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix param file in config Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/src/scene_module/lane_change/util.cpp Co-authored-by: Takamasa Horibe <[email protected]> * remove isStopState and refactoring Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Fixed CANCEL when ego is out of lane Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix path reset during abort Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix abort path exceed goal Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix logger to debug Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> * feat(behavior path planner): lane change cancel/abort docs update (autowarefoundation#2599) * feat(behavior path planner): lane change cancel/abort docs update Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update parameters and it's config (yaml) file Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix(lane_change): use current lane for num to preferred lane input (autowarefoundation#2615) * fix(lane_change): use current lane for num to preferred lane input Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix lane change distance from deadend Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Make separate function to compute resampling interval Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Change default config Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Make phase info data structure Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Added error for finish judge buffer Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Fix rebase Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * ci(pre-commit): autofix * warn user of the modified values Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(behavior_path_planner): lane change turn signal during approval (autowarefoundation#2645) * fix(behavior_path_planner): lane change turn signal during approval Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * some refactoring Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix(behavior_path_planner): improve isPathInLanelet function for lane change (autowarefoundation#2693) * fix(behavior_path_planner): improve isPathInLanelet function for lane change Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * simplify the functions Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * feat(rtc_auto_mode_manager)!: add auto mode status array (autowarefoundation#2517) * feat(rtc_aut_mode_manager)!: add auto mode status array Signed-off-by: taikitanaka3 <[email protected]> * chore: planning/rtc_auto_mode_manager/src/rtc_auto_mode_manager_interface.cpp Signed-off-by: taikitanaka3 <[email protected]> * feat(behavior_path_planner): external request lane change (autowarefoundation#2442) * feature(behavior_path_planner): add external request lane change module Signed-off-by: Fumiya Watanabe <[email protected]> feature(behavior_path_planner): fix for RTC Signed-off-by: Fumiya Watanabe <[email protected]> feature(behavior_path_planner): fix decision logic Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): fix behavior_path_planner_tree.xml Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): fix for rebase Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): output multiple candidate paths Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): get path candidate in behavior tree manager Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): fix for multiple candidate path Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): separate external request lane change module Signed-off-by: Fumiya Watanabe <[email protected]> feature(behavior_path_planner): add create publisher method Signed-off-by: Fumiya Watanabe <[email protected]> feature(behavior_path_planner): move publishers to node Signed-off-by: Fumiya Watanabe <[email protected]> feature(behavior_path_planner): remove unnecessary publisher Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): move reset path candidate function to behavior tree manager Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): add external request lane change path candidate publisher Signed-off-by: Fumiya Watanabe <[email protected]> feat(behavior_path_planner): apply abort lane change Signed-off-by: Fumiya Watanabe <[email protected]> * fix(behavior_path_planner): remove unnecessary change Signed-off-by: Fumiya Watanabe <[email protected]> * feat(behavior_path_planner): fix getLaneChangePaths() Signed-off-by: Fumiya Watanabe <[email protected]> * feat(behavior_path_planner): disable external request lane change in default tree Signed-off-by: Fumiya Watanabe <[email protected]> * Update rtc_auto_mode_manager.param.yaml * fix(route_handler): remove redundant code * fix(behavior_path_planner): fix for turn signal Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> * fix(motion_utils/path_shifter): modify the sampling method (autowarefoundation#2658) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix(behavior_path_planner): lane change interpolated obj orientation (autowarefoundation#2727) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix(behavior_path_planner): reduce obj indices call in lane change (autowarefoundation#2726) * fix(behavior_path_planner): reduce obj indices call in lane change Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * remove unused functions Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * add continue for the intersect in current * replace target and current lanes Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * change isLaneChangePathSafe arguments Signed-off-by: Muhammad Zulfaqar <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar <[email protected]> * feat(behavior_path_planner): enable lane change in intersection (autowarefoundation#2720) fix(behavior_path_planner): enable lane change in intersection Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> * fix(behavior_path_planner): make lane change safety check adaptive (autowarefoundation#2704) * fix(behavior_path_planner): make lane change safety check adaptive Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Temporarily hard code use all predicted path Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Revert "Temporarily hard code use all predicted path" This reverts commit 8f92e45. * fix external lane change request Signed-off-by: Muhammad Zulfaqar <[email protected]> * use prediction resolution as rounding multiplier Signed-off-by: Muhammad Zulfaqar <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar <[email protected]> * fix(lane_change): chattering issue when performing check (autowarefoundation#2741) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> Signed-off-by: taikitanaka3 <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <[email protected]>
Description
This PR aims to fix triple lane change issue. To standardize some computations, the current available functions are also refactored.
Before PR
cap-.2023-01-06-13-01-02.mp4.mp4
After PR
temp-branch-check-.2023-01-06-12-04-37.mp4.mp4
Related links
Tests performed
Perform triple lane changes scenario .
Notes for reviewers
The following parameters in
lane_change.param.yaml
need to be modified as followsRationale
For lane change change more than 1, because lane changing module have to be complete in order for the second lane change to start. And lane change completion depends on finish judge buffer.
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