feat(behavior_path_planner): ignore pull over goal near lane start #2667
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Signed-off-by: kosuke55 <[email protected]>
Codecov ReportBase: 11.38% // Head: 11.36% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2667 +/- ##
==========================================
- Coverage 11.38% 11.36% -0.03%
==========================================
Files 1277 1277
Lines 89230 89427 +197
Branches 23619 23746 +127
==========================================
+ Hits 10160 10161 +1
- Misses 68297 68474 +177
- Partials 10773 10792 +19
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…utowarefoundation#2667) feat(behavior_path_planner) ignore pull over goal near lane start Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]>
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* feat(behavior_path_planner): ignore pull over goal near lane start (autowarefoundation#2667) feat(behavior_path_planner) ignore pull over goal near lane start Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]> * feat(behavior_path_planner): add option for combining arc pull out paths (autowarefoundation#2669) * feat(behavior_path_planner): add option for combining arc pull out paths Signed-off-by: kosuke55 <[email protected]> * divide_pull_out_path Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]>
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…utowarefoundation#2667) feat(behavior_path_planner) ignore pull over goal near lane start Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]>
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Signed-off-by: kosuke55 [email protected]
Description
When the goal is set near lane start, the path is generated close to the drivable area edge. This causes distortion by obstacle_avoidacne_planner.
_014._.20kmph-2023-01-16_14.20.26.mp4
In this PR, ignore the goal candidates near the start of pull over target lanes to fix that.
Related links
launcher
tier iv internal link
Tests performed
psim
ignore_distance_from_lane_start: 10.0pull_over_ignore_goal_near_lane_start-2023-01-17_14.48.07.mp4
ignore_distance_from_lane_start: 15.0ignore_distance_from_lane_start: 20.0Notes for reviewers
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