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feat(lane_change): cherry-pick LC PRs #943

Merged
merged 14 commits into from
Oct 17, 2023
Merged

feat(lane_change): cherry-pick LC PRs #943

merged 14 commits into from
Oct 17, 2023

Commits on Oct 15, 2023

  1. fix(lane_change): add guard to neigibor lanelets (autowarefoundation#… 

    …5245)

Signed-off-by: kosuke55 <[email protected]>
    @kosuke55 @TakaHoribe
    kosuke55 authored and TakaHoribe committed Oct 15, 2023
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  2. feat(lane_change): sampling all possible longitudinal acceleration wh… 

    …en the ego is in stuck (autowarefoundation#5249)

* [lane_change] sampling all possible longitudinal acceleration when the ego is in stuck

Signed-off-by: Takamasa Horibe <[email protected]>

* add clock

Signed-off-by: Takamasa Horibe <[email protected]>

* update

Signed-off-by: Takamasa Horibe <[email protected]>

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

Co-authored-by: Zulfaqar Azmi <[email protected]>

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

Co-authored-by: Zulfaqar Azmi <[email protected]>

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

Co-authored-by: Fumiya Watanabe <[email protected]>

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

Co-authored-by: Fumiya Watanabe <[email protected]>

* fix style

Signed-off-by: Takamasa Horibe <[email protected]>

---------

Signed-off-by: Takamasa Horibe <[email protected]>
Co-authored-by: Zulfaqar Azmi <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
    @TakaHoribe @zulfaqar-azmi-t4 @rej55
    3 people committed Oct 15, 2023
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  3. feat(lane_change): keep distance against avoidable stationary objects (… 

    …autowarefoundation#5236)

* feat(lane_change): keep distance against avoidable stationary objects

Signed-off-by: kosuke55 <[email protected]>

consider rss distance

Signed-off-by: kosuke55 <[email protected]>

tmp

Signed-off-by: kosuke55 <[email protected]>

* fix dangling

Signed-off-by: Takamasa Horibe <[email protected]>

* use parameter for velocity_treshold

Signed-off-by: Takamasa Horibe <[email protected]>

* check object only on the ego path

Signed-off-by: Takamasa Horibe <[email protected]>

* fix

Signed-off-by: Takamasa Horibe <[email protected]>

---------

Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
    @kosuke55 @TakaHoribe
    kosuke55 and TakaHoribe committed Oct 15, 2023
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  4. fix(lane_change): fixed debug visualization bug (autowarefoundation#5284 

    )

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
    @zulfaqar-azmi-t4 @TakaHoribe
    zulfaqar-azmi-t4 authored and TakaHoribe committed Oct 15, 2023
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  5. fix(lane_change): update target lane if valid path not found (autowar… 

    …efoundation#5287)

Signed-off-by: Fumiya Watanabe <[email protected]>
    @rej55 @TakaHoribe
    rej55 authored and TakaHoribe committed Oct 15, 2023
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  6. feat(lane_change): add rss paramas for stuck 

    Signed-off-by: kosuke55 <[email protected]>
    @kosuke55 @TakaHoribe
    kosuke55 authored and TakaHoribe committed Oct 15, 2023
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  7. fix(lane_change): fix chattering for stopped objects 

    Signed-off-by: kosuke55 <[email protected]>

Update planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp

fix(path_safety_checker): remove redundant parameter name

Signed-off-by: Fumiya Watanabe <[email protected]>
    @kosuke55 @TakaHoribe
    kosuke55 authored and TakaHoribe committed Oct 15, 2023
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  8. fix(lane_change): add margin in stuck detection distance 

    Signed-off-by: Takamasa Horibe <[email protected]>

use margin

Signed-off-by: Takamasa Horibe <[email protected]>
    @TakaHoribe
    TakaHoribe committed Oct 15, 2023
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  9. fix(lane_change): update target lane obj block condition (autowarefou… 

    …ndation#5296)

fix(lane_change): target lane blocking condition



remove in_terminal condition



fix

Signed-off-by: Takamasa Horibe <[email protected]>
    @TakaHoribe
    TakaHoribe committed Oct 15, 2023
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  10. refactor(lane_change): add debug log 

    Signed-off-by: Takamasa Horibe <[email protected]>

update

Signed-off-by: Takamasa Horibe <[email protected]>
    @TakaHoribe
    TakaHoribe committed Oct 15, 2023
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Commits on Oct 16, 2023

  1. fix(behavior_path_planner): fix calcMinimumLongitudinalLength args (a… 

    …utowarefoundation#5299)

Signed-off-by: kosuke55 <[email protected]>
    @kosuke55 @rej55
    kosuke55 authored and rej55 committed Oct 16, 2023
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  2. fix(lane_change): fix filtering objects 

    Signed-off-by: kosuke55 <[email protected]>
    @kosuke55
    kosuke55 committed Oct 16, 2023
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  3. fix(lane_change): filter out objects out of lane to fix stopping marg… 

    …in chattering

Signed-off-by: kosuke55 <[email protected]>

use boost intersects

Signed-off-by: kosuke55 <[email protected]>
    @kosuke55
    kosuke55 committed Oct 16, 2023
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  4. fix(lane_change): do not use reference values of polygon outer (autow… 

    …arefoundation#5318)

* fix(lane_change): do not use refelence values of polygon outer

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

* fix(lane_change): fix in lane change

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

---------

Signed-off-by: Fumiya Watanabe <[email protected]>
    @rej55
    rej55 committed Oct 16, 2023
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