-
Notifications
You must be signed in to change notification settings - Fork 639
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
fix(avoidance): don't avoid merging/deviating vehicle whose overhang distance is larger than threshold #6808
Merged
satoshi-ota
merged 3 commits into
autowarefoundation:main
from
tier4:fix/avoidance-merging-vehicle
Apr 30, 2024
Merged
fix(avoidance): don't avoid merging/deviating vehicle whose overhang distance is larger than threshold #6808
satoshi-ota
merged 3 commits into
autowarefoundation:main
from
tier4:fix/avoidance-merging-vehicle
Apr 30, 2024
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
added
the
component:planning
Route planning, decision-making, and navigation. (auto-assigned)
label
Apr 15, 2024
satoshi-ota
changed the title
Fix/avoidance merging vehicle
fix(avoidance): don't avoid merging/deviating vehicle whose overhang distance is larger than threshold
Apr 15, 2024
satoshi-ota
force-pushed
the
fix/avoidance-merging-vehicle
branch
from
April 15, 2024 04:45
4e5a2b0
to
56440a5
Compare
satoshi-ota
force-pushed
the
fix/avoidance-merging-vehicle
branch
from
April 25, 2024 01:38
56440a5
to
b69170a
Compare
…vehicle Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: satoshi-ota <[email protected]>
satoshi-ota
force-pushed
the
fix/avoidance-merging-vehicle
branch
from
April 25, 2024 08:58
b69170a
to
90ce193
Compare
5 tasks
Signed-off-by: satoshi-ota <[email protected]>
satoshi-ota
requested review from
rej55,
kyoichi-sugahara,
shmpwk,
TakaHoribe,
TomohitoAndo,
tkimura4 and
zulfaqar-azmi-t4
as code owners
April 25, 2024 09:34
shmpwk
approved these changes
Apr 29, 2024
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
shmpwk
added
the
tag:run-build-and-test-differential
Mark to enable build-and-test-differential workflow. (used-by-ci)
label
Apr 29, 2024
satoshi-ota
added a commit
to tier4/autoware.universe
that referenced
this pull request
May 2, 2024
…distance is larger than threshold (autowarefoundation#6808) * fix(avoidance): add target filtering threshold for merging/deviating vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): apply logic only for non-parked vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): align logger namespace Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
4 tasks
satoshi-ota
added a commit
to tier4/autoware.universe
that referenced
this pull request
May 2, 2024
…distance is larger than threshold (autowarefoundation#6808) * fix(avoidance): add target filtering threshold for merging/deviating vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): apply logic only for non-parked vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): align logger namespace Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
4 tasks
satoshi-ota
added a commit
to tier4/autoware.universe
that referenced
this pull request
May 10, 2024
…distance is larger than threshold (autowarefoundation#6808) * fix(avoidance): add target filtering threshold for merging/deviating vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): apply logic only for non-parked vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): align logger namespace Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
karishma1911
pushed a commit
to Interplai/autoware.universe
that referenced
this pull request
Jun 3, 2024
…distance is larger than threshold (autowarefoundation#6808) * fix(avoidance): add target filtering threshold for merging/deviating vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): apply logic only for non-parked vehicle Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): align logger namespace Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Labels
component:planning
Route planning, decision-making, and navigation. (auto-assigned)
tag:run-build-and-test-differential
Mark to enable build-and-test-differential workflow. (used-by-ci)
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Related PR: autowarefoundation/autoware_launch#974
Related ticket: https://tier4.atlassian.net/browse/RT1-5553
Previous avoidance module creates avoidance path for merging/deviating vehicle. However, sometimes it caused unnatural behavior as follow. In this situation, perception module detected ghost deviationg vehicle and module tried to avoid it with huge leteral shift length. I think the ego should stop behind of the it even if it's not perception false positive because most of the rear of the vehicle is still in Ego's lane.
In this PR, I fixed logic to check overhang distance and ignore such a vehicle.
Tests performed
Effects on system behavior
Improve avoidance behavior.
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.