feat(start_planner): keep distance against front objects #5983

kyoichi-sugahara · 2023-12-27T11:04:43Z

Description

This PR's change is based on following 2 PRs

And following PR should be merged first, because parameter should be newly defined
launcher change PR

eliminate start pose candidate if distance between start pose candidate and front static object is less than collision_check_margin_from_front_object

distance from front static object in the following image should be larger than collision_check_margin_from_front_object

Tests performed

PASS TIERIV INTERNAL SCENARIOS

Effects on system behavior

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Signed-off-by: kyoichi-sugahara <[email protected]>

…ffset_colission_check_segment

…ep_distance_against_front_objects

Signed-off-by: kyoichi-sugahara <[email protected]>

…ep_distance_against_front_objects Signed-off-by: kyoichi-sugahara <[email protected]>

Signed-off-by: kyoichi-sugahara <[email protected]>

…module.cpp Co-authored-by: Kosuke Takeuchi <[email protected]>

…ep_distance_against_front_objects

Signed-off-by: kyoichi-sugahara <[email protected]>

codecov · 2024-01-10T08:02:35Z

Codecov Report

Attention: 9 lines in your changes are missing coverage. Please review.

Comparison is base (2a6c16b) 15.22% compared to head (130d0d9) 15.31%.
Report is 12 commits behind head on main.

Files	Patch %	Lines
..._start_planner_module/src/start_planner_module.cpp	0.00%	7 Missing ⚠️
...behavior_path_start_planner_module/src/manager.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5983      +/-   ##
==========================================
+ Coverage   15.22%   15.31%   +0.08%     
==========================================
  Files        1767     1759       -8     
  Lines      121695   121480     -215     
  Branches    37020    37020              
==========================================
+ Hits        18534    18608      +74     
+ Misses      82349    82001     -348     
- Partials    20812    20871      +59

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`15.31% <ø> (+0.08%)`	⬆️	Carriedforward from 6e15bd4

*This pull request uses carry forward flags. Click here to find out more.

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Signed-off-by: kyoichi-sugahara <[email protected]>

kosuke55

LGTM!

kosuke55 · 2024-01-10T11:52:08Z

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -912,6 +912,10 @@ std::vector<Pose> StartPlannerModule::searchPullOutStartPoseCandidates(
    pull_out_lanes, start_pose.position, parameters_->th_moving_object_velocity,
    backward_path_length, std::numeric_limits<double>::max());

+  const auto front_stop_objects_in_shoulder_lanes = filterStopObjectsInPullOutLanes(


Suggested change

const auto front_stop_objects_in_shoulder_lanes = filterStopObjectsInPullOutLanes(

const auto front_stop_objects_in_pull_out_lanes = filterStopObjectsInPullOutLanes(

pull out lane can be non shoulder lane

thank you!
changed in 130d0d9

Signed-off-by: kyoichi-sugahara <[email protected]>

…ndation#5983) * refactor extractCollisionCheckPath Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]>

kyoichi-sugahara added 8 commits December 26, 2023 19:16

remove collision check in pull out planner

8afbca4

Signed-off-by: kyoichi-sugahara <[email protected]>

check collision when search start pose

d55775a

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'main' into feat/check_collision_outside_of_plan

5021b0c

Signed-off-by: kyoichi-sugahara <[email protected]>

Refactor collision check in GeometricPullOut::plan()

a30eb25

Signed-off-by: kyoichi-sugahara <[email protected]>

Refactor collision check path extraction in StartPlannerModule

6f30ca4

Signed-off-by: kyoichi-sugahara <[email protected]>

change filterStopObjectsInShoulderLanes

6b88e3b

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'main' into feat/apply_offset_colission_check_segment

c0c6cf8

Signed-off-by: kyoichi-sugahara <[email protected]>

Update collision check parameters

61f992e

Signed-off-by: kyoichi-sugahara <[email protected]>

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Dec 27, 2023

kyoichi-sugahara mentioned this pull request Dec 27, 2023

feat(start_planner): keep distance against front objects autowarefoundation/autoware_launch#766

Merged

4 tasks

kyoichi-sugahara assigned kosuke55 Dec 27, 2023

Merge branch 'main' into feat/keep_distance_against_front_objects

e680b56

kyoichi-sugahara marked this pull request as ready for review December 27, 2023 11:17

kyoichi-sugahara requested review from kosuke55, satoshi-ota, shmpwk, TomohitoAndo and tkimura4 as code owners December 27, 2023 11:17

kyoichi-sugahara added 6 commits December 27, 2023 20:33

Merge branch 'main' into feat/keep_distance_against_front_objects

294c1fe

Merge branch 'main' into feat/check_collision_outside_of_plan

b90ea45

Signed-off-by: kyoichi-sugahara <[email protected]>

change order of extract stop objects function

e5717ad

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'main' into feat/apply_offset_colission_check_segment

8f0089f

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'feat/check_collision_outside_of_plan' into feat/apply_o…

50ee603

…ffset_colission_check_segment

Merge branch 'feat/apply_offset_colission_check_segment' into feat/ke…

ab448e8

…ep_distance_against_front_objects

kyoichi-sugahara mentioned this pull request Dec 28, 2023

feat(start_planner): define collision check margin as list #5994

Merged

5 tasks

kyoichi-sugahara added 4 commits December 28, 2023 19:41

Merge branch 'main' into feat/apply_offset_colission_check_segment

3708271

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'feat/apply_offset_colission_check_segment' into feat/ke…

7fefeef

…ep_distance_against_front_objects Signed-off-by: kyoichi-sugahara <[email protected]>

change shoulder lanes to pull put lanes

365b4f9

Signed-off-by: kyoichi-sugahara <[email protected]>

refactor extractCollisionCheckPath

6839191

Signed-off-by: kyoichi-sugahara <[email protected]>

kyoichi-sugahara and others added 6 commits December 28, 2023 21:47

Update planning/behavior_path_start_planner_module/src/start_planner_…

04b5312

…module.cpp Co-authored-by: Kosuke Takeuchi <[email protected]>

Merge branch 'feat/apply_offset_colission_check_segment' into feat/ke…

a45ad0e

…ep_distance_against_front_objects

Merge branch 'main' into feat/keep_distance_against_front_objects

cfad138

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'main' into feat/keep_distance_against_front_objects

7fc8a64

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'main' into feat/keep_distance_against_front_objects

8e4c33d

Signed-off-by: kyoichi-sugahara <[email protected]>

Merge branch 'main' into feat/keep_distance_against_front_objects

6e15bd4

Signed-off-by: kyoichi-sugahara <[email protected]>

kyoichi-sugahara added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 10, 2024

Merge branch 'main' into feat/keep_distance_against_front_objects

c21d128

Signed-off-by: kyoichi-sugahara <[email protected]>

kosuke55 approved these changes Jan 10, 2024

View reviewed changes

kosuke55 reviewed Jan 10, 2024

View reviewed changes

Refactor variable names in StartPlannerModule

130d0d9

Signed-off-by: kyoichi-sugahara <[email protected]>

kyoichi-sugahara merged commit 9b736d5 into autowarefoundation:main Jan 11, 2024
22 of 27 checks passed

kyoichi-sugahara deleted the feat/keep_distance_against_front_objects branch January 11, 2024 02:39

This was referenced Jan 11, 2024

feat(start_planner): cherry pick tier4/autoware.universe#1089

Merged

feat(start_planner): cherry pick tier4/autoware.universe#1092

Merged

tier4-autoware-public-bot bot mentioned this pull request Jan 24, 2024

chore: sync upstream tier4/autoware.universe#1116

Merged

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feat(start_planner): keep distance against front objects #5983

feat(start_planner): keep distance against front objects #5983

kyoichi-sugahara commented Dec 27, 2023 •

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codecov bot commented Jan 10, 2024 •

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kosuke55 Jan 10, 2024

kyoichi-sugahara Jan 11, 2024

	const auto front_stop_objects_in_shoulder_lanes = filterStopObjectsInPullOutLanes(
	const auto front_stop_objects_in_pull_out_lanes = filterStopObjectsInPullOutLanes(

feat(start_planner): keep distance against front objects #5983

feat(start_planner): keep distance against front objects #5983

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kyoichi-sugahara commented Dec 27, 2023 • edited Loading

Description

Tests performed

Effects on system behavior

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kyoichi-sugahara commented Dec 27, 2023 •

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