-
Notifications
You must be signed in to change notification settings - Fork 640
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
feat(lane_change): regulate lane change on crosswalk and intersection #5068
feat(lane_change): regulate lane change on crosswalk and intersection #5068
Conversation
Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
} | ||
|
||
return common_parameters.lane_change_prepare_duration; | ||
return prepare_durations; |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
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.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
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.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Sorry exploring from common_parameters.lane_change_prepare_duration
...
Codecov ReportPatch coverage has no change and project coverage change:
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
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
Outdated
Show resolved
Hide resolved
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
LGTM!
planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
Outdated
Show resolved
Hide resolved
…rmal.cpp Co-authored-by: Kyoichi Sugahara <[email protected]>
planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
Outdated
Show resolved
Hide resolved
…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]>
…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]>
Description
By introducing this change, you can regulate lane change on crosswalk and intersection.
Changes for config is autowarefoundation/autoware_launch#582
Related links
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.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.