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feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid #4609
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tkimura4
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Aug 15, 2023
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feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid #4609
tkimura4
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autowarefoundation:main
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satoshi-ota:feat/use-two-step-margin
Aug 15, 2023
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #4609 +/- ##
=======================================
Coverage 14.84% 14.84%
=======================================
Files 1529 1529
Lines 105843 105829 -14
Branches 32254 32245 -9
=======================================
- Hits 15712 15710 -2
- Misses 72942 72945 +3
+ Partials 17189 17174 -15
*This pull request uses carry forward flags. Click here to find out more.
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…ot enough to avoid Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: satoshi-ota <[email protected]>
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…ot enough to avoid (autowarefoundation#4609) * feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): remove std::min Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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…ot enough to avoid (autowarefoundation#4609) * feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): remove std::min Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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…ot enough to avoid (autowarefoundation#4609) * feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): remove std::min Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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component:planning
Route planning, decision-making, and navigation. (auto-assigned)
tag:run-build-and-test-differential
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Description
🤖 Generated by Copilot at 39afdae
This pull request modifies the
AvoidanceModuleManager
class and related files to use two parameters for the road shoulder margins instead of one. This allows the avoidance module to adjust the lateral distance to the road shoulder when avoiding obstacles, improving the robustness and safety of the behavior path planning.Please approve ⬇️ before this PR.
autowarefoundation/autoware_launch#513
Add following new params:
Then, there are four lateral margin params in avoidance config:
safety_buffer_lateral + avoid_buffer_lateral
safety_buffer_lateral
soft_road_shoulder_margin
hard_road_shoulder_margin
soft_road_shoulder_margin
safety_buffer_lateral
hard_road_shoulder_margin
simplescreenrecorder-2023-08-13_09.12.31.mp4
Tests performed
Effects on system behavior
Nothing.
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