feat(lane_change): regulate lane change on crosswalk and intersection #5068

rej55 · 2023-09-21T09:33:33Z

Description

By introducing this change, you can regulate lane change on crosswalk and intersection.

Changes for config is autowarefoundation/autoware_launch#582

Tests performed

Tested in planning simulator with regulate parameters to true.
TIER IV INTERNAL TEST

Crosswalk:

cap-.2023-09-21-17-38-34.mp4

Intersection:

cap-.2023-09-21-18-15-52.mp4

Notes for reviewers

Interface changes

New parameters added.

Effects on system behavior

Using default parameters, no effects.
If change regulatory parameters, you can regulate lane change on crosswalk and intersection.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: Fumiya Watanabe <[email protected]>

rej55 · 2023-09-21T09:43:40Z

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

  }

-  return common_parameters.lane_change_prepare_duration;
+  return prepare_durations;


If it regulates lane change on crosswalk or intersection, lane change path may be found if the prepare duration is longer.
So, it returns some prepare duration candidates.

I can roughly imagine why the prepare_duration would be shortened when the vehicle is moving at low speed and is near the end of the lane. Is there any degradation in performance if this feature is lost? Since the duration is being explored starting from zero, it seems like there wouldn't be an issue, but I'm curious if the low-speed condition is really necessary.

Sorry exploring from common_parameters.lane_change_prepare_duration...

planning/behavior_path_planner/src/utils/utils.cpp

codecov · 2023-09-21T10:32:17Z

Codecov Report

Patch coverage has no change and project coverage change: -0.07% ⚠️

Comparison is base (08122d9) 15.80% compared to head (cfd377f) 15.74%.
Report is 20 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5068      +/-   ##
==========================================
- Coverage   15.80%   15.74%   -0.07%     
==========================================
  Files        1581     1581              
  Lines      109901   110977    +1076     
  Branches    34414    35203     +789     
==========================================
+ Hits        17375    17477     +102     
- Misses      73399    74236     +837     
- Partials    19127    19264     +137

Flag	Coverage Δ		*Carryforward flag
differential	`12.60% <0.00%> (?)`
total	`15.82% <ø> (+0.01%)`	⬆️	Carriedforward from 0b64c86

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
...r_path_planner/scene_module/lane_change/normal.hpp	`0.00% <ø> (ø)`
...nner/utils/lane_change/lane_change_module_data.hpp	`0.00% <ø> (ø)`
...h_planner/src/scene_module/lane_change/manager.cpp	`5.20% <0.00%> (-0.09%)`	⬇️
...th_planner/src/scene_module/lane_change/normal.cpp	`3.75% <0.00%> (-0.29%)`	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	`19.03% <0.00%> (+0.71%)`	⬆️

... and 9 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

kyoichi-sugahara

LGTM!

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

…rmal.cpp Co-authored-by: Kyoichi Sugahara <[email protected]>

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

…rmal.cpp Co-authored-by: Zulfaqar Azmi <[email protected]>

Signed-off-by: Fumiya Watanabe <[email protected]>

…autowarefoundation#5068) * fix(lane_change): fix hasEnoughDistance() Signed-off-by: Fumiya Watanabe <[email protected]> * feat(lane_change): regulate lane change on crosswalk and intersection Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): remove unnecessary value Signed-off-by: Fumiya Watanabe <[email protected]> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Kyoichi Sugahara <[email protected]> * style(pre-commit): autofix * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * style(pre-commit): autofix * fix(lane_change): separate functions and fix Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <[email protected]>

rej55 added 3 commits September 21, 2023 15:09

fix(lane_change): fix hasEnoughDistance()

c68b24a

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(lane_change): regulate lane change on crosswalk and intersection

1328ce9

Signed-off-by: Fumiya Watanabe <[email protected]>

fix(lane_change): remove unnecessary value

0b64c86

Signed-off-by: Fumiya Watanabe <[email protected]>

rej55 requested review from kosuke55, kyoichi-sugahara, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, tkimura4, purewater0901 and zulfaqar-azmi-t4 as code owners September 21, 2023 09:33

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Sep 21, 2023

rej55 mentioned this pull request Sep 21, 2023

feat(planning_launch): add config for regulate lane change autowarefoundation/autoware_launch#582

Merged

7 tasks

rej55 commented Sep 21, 2023

View reviewed changes

planning/behavior_path_planner/src/utils/utils.cpp Show resolved Hide resolved

rej55 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Sep 21, 2023

kyoichi-sugahara reviewed Sep 21, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Outdated Show resolved Hide resolved

kyoichi-sugahara approved these changes Sep 21, 2023

View reviewed changes

kyoichi-sugahara reviewed Sep 21, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Outdated Show resolved Hide resolved

satoshi-ota reviewed Sep 21, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Show resolved Hide resolved

rej55 and others added 2 commits September 21, 2023 21:32

Update planning/behavior_path_planner/src/scene_module/lane_change/no…

ec34951

…rmal.cpp Co-authored-by: Kyoichi Sugahara <[email protected]>

style(pre-commit): autofix

2d669ec

satoshi-ota self-requested a review September 21, 2023 12:37

satoshi-ota approved these changes Sep 21, 2023

View reviewed changes

zulfaqar-azmi-t4 reviewed Sep 21, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Outdated Show resolved Hide resolved

Update planning/behavior_path_planner/src/scene_module/lane_change/no…

1e2d17c

…rmal.cpp Co-authored-by: Zulfaqar Azmi <[email protected]>

pre-commit-ci bot and others added 2 commits September 21, 2023 14:20

style(pre-commit): autofix

2aac3ea

fix(lane_change): separate functions and fix

cfd377f

Signed-off-by: Fumiya Watanabe <[email protected]>

rej55 merged commit 12d8333 into autowarefoundation:main Sep 22, 2023
22 of 26 checks passed

rej55 deleted the fix/lane_change_on_crosswalk branch September 22, 2023 07:39

takayuki5168 mentioned this pull request Sep 26, 2023

feat(lane_change): not execute LC on crosswalk tier4/autoware.universe#872

Merged

4 tasks

tier4-autoware-public-bot bot mentioned this pull request Sep 26, 2023

chore: sync upstream tier4/autoware.universe#878

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(lane_change): regulate lane change on crosswalk and intersection #5068

feat(lane_change): regulate lane change on crosswalk and intersection #5068

rej55 commented Sep 21, 2023 •

edited

Loading

rej55 Sep 21, 2023

kyoichi-sugahara Sep 21, 2023

kyoichi-sugahara Sep 21, 2023

codecov bot commented Sep 21, 2023 •

edited

Loading

kyoichi-sugahara left a comment

feat(lane_change): regulate lane change on crosswalk and intersection #5068

feat(lane_change): regulate lane change on crosswalk and intersection #5068

Conversation

rej55 commented Sep 21, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

rej55 Sep 21, 2023

Choose a reason for hiding this comment

kyoichi-sugahara Sep 21, 2023

Choose a reason for hiding this comment

kyoichi-sugahara Sep 21, 2023

Choose a reason for hiding this comment

codecov bot commented Sep 21, 2023 • edited Loading

Codecov Report

kyoichi-sugahara left a comment

Choose a reason for hiding this comment

rej55 commented Sep 21, 2023 •

edited

Loading

codecov bot commented Sep 21, 2023 •

edited

Loading