fix(lane_change): chattering issue when performing check #2741
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Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4
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Codecov ReportBase: 11.54% // Head: 11.53% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2741 +/- ##
==========================================
- Coverage 11.54% 11.53% -0.02%
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Files 1309 1309
Lines 91326 91445 +119
Branches 24222 24302 +80
==========================================
Hits 10547 10547
- Misses 69737 69852 +115
- Partials 11042 11046 +4
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Jan 25, 2023
…ndation#2741) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
tkimura4
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* 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]>
soblin
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Jan 27, 2023
…ndation#2741) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
maxime-clem
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Jan 30, 2023
…ndation#2741) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
lexavtanke
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Jan 31, 2023
…ndation#2741) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Alexey Panferov <[email protected]>
asana17
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…ndation#2741) 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]
Description
Revert to using ego's current pose as the metric for generating candidate path.
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