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fix(avoidance): fix avoidance return dead point calculation logic for high curverture path #5489
fix(avoidance): fix avoidance return dead point calculation logic for high curverture path #5489
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… high curverture path Signed-off-by: satoshi-ota <[email protected]>
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LGTM
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5489 +/- ##
==========================================
+ Coverage 14.85% 14.87% +0.02%
==========================================
Files 1669 1670 +1
Lines 116318 117149 +831
Branches 36266 36869 +603
==========================================
+ Hits 17277 17427 +150
- Misses 79535 80078 +543
- Partials 19506 19644 +138
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
… high curverture path (autowarefoundation#5489) Signed-off-by: satoshi-ota <[email protected]>
… high curverture path (autowarefoundation#5489) Signed-off-by: satoshi-ota <[email protected]>
… high curverture path (autowarefoundation#5489) (#1063) Signed-off-by: satoshi-ota <[email protected]>
… high curverture path (autowarefoundation#5489) (autowarefoundation#1063) Signed-off-by: satoshi-ota <[email protected]>
Description
🤖 Generated by Copilot at 84adaf6
Adjust the stop line distance for the avoidance path in
avoidance_module.cpp
. This prevents the vehicle from overshooting the stop line due to the shifted path curvature.related ticket: https://tier4.atlassian.net/browse/RT1-4125
The avoidance module inserts a stop point in order not to pass through dead line to return original path. The return point is generated on original path, and the stop point is inserted on shifted path.
Therefore, it has to take the difference of distance between inner and outer path distance caused by high curverture into consideration. In this PR, it calculates the difference and set a stop point proper position.
Tests performed
simplescreenrecorder-2023-11-06_14.14.26.mp4
Effects on system behavior
Improve avoidance maneuver.
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