fix(crosswalk): don't stop in front of the crosswalk if vehicle stuck in intersection #5722
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… in intersection Signed-off-by: satoshi-ota <[email protected]>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5722 +/- ##
==========================================
- Coverage 15.32% 9.23% -6.10%
==========================================
Files 1721 14 -1707
Lines 118559 1278 -117281
Branches 37995 756 -37239
==========================================
- Hits 18169 118 -18051
+ Misses 79657 905 -78752
+ Partials 20733 255 -20478
☔ View full report in Codecov by Sentry. |
| updateRTCStatus( | ||
| getUUID(lane_id), true, std::numeric_limits<double>::lowest(), path.header.stamp); | ||
| getUUID(crosswalk_lanelet_id), true, std::numeric_limits<double>::lowest(), | ||
| path.header.stamp); | ||
| }; | ||
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| const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>( | ||
| path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose); | ||
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| for (const auto & crosswalk : crosswalk_leg_elem_map) { | ||
| // NOTE: The former id is a lane id, and the latter one is a regulatory element's id. |
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@satoshi-ota
question for my understanging
crosswalk.second.id(): id of the lanelet on the path
crosswalk.first->crosswalkLanelet().id(): id of the crosswalk lanelet
crosswalk.first->id(): id of the crosswalk regulatory element
takayuki5168
approved these changes
Nov 30, 2023
danielsanchezaran
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to tier4/autoware.universe
that referenced
this pull request
Dec 15, 2023
… in intersection (autowarefoundation#5722) Signed-off-by: satoshi-ota <[email protected]>
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Description
🤖[deprecated] Generated by Copilot at 5ee3bc2
This pull request enhances the crosswalk module to handle different types of crosswalks and road situations. It adds and modifies some parameters, variables, and functions in the
CrosswalkModuleManager,CrosswalkModule, andPlannerParamclasses, and in theutil.cppandutil.hppfiles. It also updates thecrosswalk.param.yamlconfiguration file and themanager.cppfile in the walkway module to support the changes. The main goal is to improve the behavior of the module in complex scenarios where multiple crosswalks and traffic lights are present.Related Ticket: https://tier4.atlassian.net/browse/RT1-4093
Related PR: autowarefoundation/autoware_launch#714
Add new option to skip stuck vehicle checking for crosswalk in intersection. It seems that the vehilce doesn't have to stop in front of the crosswalk even when there is stopped vehicle in intersection because such a vehicle are basically going to move in almost all following situations.
Crosswalk module skips stuck vehicle checking for crosswalks which are satisfied with following conditions:
Therefore, the stuck checking still enables for simple crosswalk like this:
Tests performed
Effects on system behavior
Change crosswalk module behavior for stuck vehicle.
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