refactor(lane_change): refactor getLaneChangePaths function #8909

mkquda · 2024-09-19T01:48:36Z

Description

The function getLaneChangePaths in LC module is the main part of LC code and is responsible for sampling different candidate paths and verifying the validity and safety of the candidate path. However the function is very big and complex, which makes it difficult to understand and modify.

This PR aims to refactor the getLaneChangePaths function to improve code readability and granularity and reduce its complexity.

Changes

Add struct PhaseMetrics to group relevant measurements (duration, length, velocity, lon. acc, lat. acc) for LC phases
Add function calc_prepare_phase_metrics to compute and return a list of sampled prepare phase metrics
Add function calc_shift_phase_metrics to compute and return a list of sampled lane changing phase metrics
Remove the necessity of computing target segment, and use reference path from target lane directly instead
Add function getCandidatePath to process LC info and construct the cadidate path
Add function checkCandidatePathSafety to verify LC candidate path

Flowchart of getLaneChangePaths function after refactoring

How was this PR tested?

Build complete
PSIM
Internal TIER IV evaluator

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: mohammad alqudah <[email protected]>

…f-lane-change-module

Signed-off-by: mohammad alqudah <[email protected]>

…f-lane-change-module

Signed-off-by: mohammad alqudah <[email protected]>

…f-lane-change-module

Signed-off-by: mohammad alqudah <[email protected]>

…f-lane-change-module

Signed-off-by: mohammad alqudah <[email protected]>

…f-lane-change-module

Signed-off-by: mohammad alqudah <[email protected]>

…f-lane-change-module

Signed-off-by: mohammad alqudah <[email protected]>

…ule' into RT1-7829-refactor-code-get-lane-change-paths

…trics Signed-off-by: mohammad alqudah <[email protected]>

Signed-off-by: mohammad alqudah <[email protected]>

…-paths

Signed-off-by: mohammad alqudah <[email protected]>

…-paths

github-actions · 2024-09-19T01:48:53Z

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…-paths Signed-off-by: mohammad alqudah <[email protected]>

maxime-clem

I only checked the code and it looks good.
The CI failure is caused by a random test failure so re-running it should fix the issue. (the random failure is supposed to be fixed by #8799 but I guess not).

...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp

Signed-off-by: mohammad alqudah <[email protected]>

github-actions · 2024-09-20T07:52:19Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8909/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-8909/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/

…-paths

…-paths Signed-off-by: mohammad alqudah <[email protected]>

Signed-off-by: mohammad alqudah <[email protected]>

…-paths

Signed-off-by: mohammad alqudah <[email protected]>

planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md

Signed-off-by: mohammad alqudah <[email protected]>

zulfaqar-azmi-t4

Nice. LGTM!

…foundation#8909) * refactor lane change utility funcions Signed-off-by: mohammad alqudah <[email protected]> * LC utility function to get distance to next regulatory element Signed-off-by: mohammad alqudah <[email protected]> * don't activate LC module when close to regulatory element Signed-off-by: mohammad alqudah <[email protected]> * modify threshold distance calculation Signed-off-by: mohammad alqudah <[email protected]> * move regulatory element check to canTransitFailureState() function Signed-off-by: mohammad alqudah <[email protected]> * always run LC module if approaching terminal point Signed-off-by: mohammad alqudah <[email protected]> * use max possible LC length as threshold Signed-off-by: mohammad alqudah <[email protected]> * update LC readme Signed-off-by: mohammad alqudah <[email protected]> * refactor implementation Signed-off-by: mohammad alqudah <[email protected]> * update readme Signed-off-by: mohammad alqudah <[email protected]> * refactor checking data validity Signed-off-by: mohammad alqudah <[email protected]> * refactor sampling of prepare phase metrics and lane changing phase metrics Signed-off-by: mohammad alqudah <[email protected]> * add route handler function to get pose from 2d arc length Signed-off-by: mohammad alqudah <[email protected]> * refactor candidate path generation Signed-off-by: mohammad alqudah <[email protected]> * refactor candidate path safety check Signed-off-by: mohammad alqudah <[email protected]> * fix variable name Signed-off-by: mohammad alqudah <[email protected]> * Update planning/autoware_route_handler/src/route_handler.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * correct parameter name Signed-off-by: mohammad alqudah <[email protected]> * set prepare segment velocity after taking max path velocity value Signed-off-by: mohammad alqudah <[email protected]> * update LC README Signed-off-by: mohammad alqudah <[email protected]> * minor changes Signed-off-by: mohammad alqudah <[email protected]> * check phase length difference with previos valid candidate path Signed-off-by: mohammad alqudah <[email protected]> * change logger name Signed-off-by: mohammad alqudah <[email protected]> * change functions names to snake case Signed-off-by: mohammad alqudah <[email protected]> * use snake case for function names Signed-off-by: mohammad alqudah <[email protected]> * add colors to flow chart in README Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Signed-off-by: prakash-kannaiah <[email protected]>

…foundation#8909) * refactor lane change utility funcions Signed-off-by: mohammad alqudah <[email protected]> * LC utility function to get distance to next regulatory element Signed-off-by: mohammad alqudah <[email protected]> * don't activate LC module when close to regulatory element Signed-off-by: mohammad alqudah <[email protected]> * modify threshold distance calculation Signed-off-by: mohammad alqudah <[email protected]> * move regulatory element check to canTransitFailureState() function Signed-off-by: mohammad alqudah <[email protected]> * always run LC module if approaching terminal point Signed-off-by: mohammad alqudah <[email protected]> * use max possible LC length as threshold Signed-off-by: mohammad alqudah <[email protected]> * update LC readme Signed-off-by: mohammad alqudah <[email protected]> * refactor implementation Signed-off-by: mohammad alqudah <[email protected]> * update readme Signed-off-by: mohammad alqudah <[email protected]> * refactor checking data validity Signed-off-by: mohammad alqudah <[email protected]> * refactor sampling of prepare phase metrics and lane changing phase metrics Signed-off-by: mohammad alqudah <[email protected]> * add route handler function to get pose from 2d arc length Signed-off-by: mohammad alqudah <[email protected]> * refactor candidate path generation Signed-off-by: mohammad alqudah <[email protected]> * refactor candidate path safety check Signed-off-by: mohammad alqudah <[email protected]> * fix variable name Signed-off-by: mohammad alqudah <[email protected]> * Update planning/autoware_route_handler/src/route_handler.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * correct parameter name Signed-off-by: mohammad alqudah <[email protected]> * set prepare segment velocity after taking max path velocity value Signed-off-by: mohammad alqudah <[email protected]> * update LC README Signed-off-by: mohammad alqudah <[email protected]> * minor changes Signed-off-by: mohammad alqudah <[email protected]> * check phase length difference with previos valid candidate path Signed-off-by: mohammad alqudah <[email protected]> * change logger name Signed-off-by: mohammad alqudah <[email protected]> * change functions names to snake case Signed-off-by: mohammad alqudah <[email protected]> * use snake case for function names Signed-off-by: mohammad alqudah <[email protected]> * add colors to flow chart in README Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]>

mkquda added 25 commits August 26, 2024 16:21

refactor lane change utility funcions

66cd111

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7577-improve-execution-condition-o…

adc0960

…f-lane-change-module

LC utility function to get distance to next regulatory element

4f9bc8b

Signed-off-by: mohammad alqudah <[email protected]>

don't activate LC module when close to regulatory element

bf23445

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7577-improve-execution-condition-o…

c2ceeaa

…f-lane-change-module

modify threshold distance calculation

06db58d

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7577-improve-execution-condition-o…

f7cb53e

…f-lane-change-module

move regulatory element check to canTransitFailureState() function

c05c050

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7577-improve-execution-condition-o…

8e4e952

…f-lane-change-module

Merge branch 'awf-latest' into RT1-7577-improve-execution-condition-o…

3072dcb

…f-lane-change-module

always run LC module if approaching terminal point

ac23111

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7577-improve-execution-condition-o…

a4c2024

…f-lane-change-module

use max possible LC length as threshold

6eef49e

Signed-off-by: mohammad alqudah <[email protected]>

update LC readme

8c22547

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7577-improve-execution-condition-o…

fb15b3c

…f-lane-change-module

refactor implementation

d2f0459

Signed-off-by: mohammad alqudah <[email protected]>

update readme

2d22773

Signed-off-by: mohammad alqudah <[email protected]>

refactor checking data validity

7fa64f9

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'RT1-7577-improve-execution-condition-of-lane-change-mod…

1ae7b63

…ule' into RT1-7829-refactor-code-get-lane-change-paths

refactor sampling of prepare phase metrics and lane changing phase me…

b08abaf

…trics Signed-off-by: mohammad alqudah <[email protected]>

add route handler function to get pose from 2d arc length

bf9b3e3

Signed-off-by: mohammad alqudah <[email protected]>

refactor candidate path generation

06c01fe

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7829-refactor-code-get-lane-change…

784a60b

…-paths

refactor candidate path safety check

066fb7c

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7829-refactor-code-get-lane-change…

88b6333

…-paths

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Sep 19, 2024

Merge branch 'awf-latest' into RT1-7829-refactor-code-get-lane-change…

f7df44f

…-paths Signed-off-by: mohammad alqudah <[email protected]>

github-actions bot removed the type:documentation Creating or refining documentation. (auto-assigned) label Sep 19, 2024

maxime-clem approved these changes Sep 19, 2024

View reviewed changes

mkquda added 3 commits September 20, 2024 11:28

correct parameter name

a510fcd

Signed-off-by: mohammad alqudah <[email protected]>

set prepare segment velocity after taking max path velocity value

b65477f

Signed-off-by: mohammad alqudah <[email protected]>

update LC README

da1ac8f

Signed-off-by: mohammad alqudah <[email protected]>

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Sep 20, 2024

minor changes

766a439

Signed-off-by: mohammad alqudah <[email protected]>

mkquda added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Sep 20, 2024

mkquda requested a review from zulfaqar-azmi-t4 September 20, 2024 08:02

mkquda added 5 commits September 20, 2024 17:03

Merge branch 'awf-latest' into RT1-7829-refactor-code-get-lane-change…

b0ab583

…-paths

Merge branch 'awf-latest' into RT1-7829-refactor-code-get-lane-change…

78ed340

…-paths Signed-off-by: mohammad alqudah <[email protected]>

check phase length difference with previos valid candidate path

55f330d

Signed-off-by: mohammad alqudah <[email protected]>

Merge branch 'awf-latest' into RT1-7829-refactor-code-get-lane-change…

dea4f81

…-paths

change logger name

fa5a5fe

Signed-off-by: mohammad alqudah <[email protected]>

zulfaqar-azmi-t4 reviewed Sep 25, 2024

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planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp Outdated Show resolved Hide resolved

zulfaqar-azmi-t4 reviewed Sep 25, 2024

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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Outdated Show resolved Hide resolved

mkquda added 3 commits September 25, 2024 14:42

change functions names to snake case

f64d80a

Signed-off-by: mohammad alqudah <[email protected]>

use snake case for function names

a57b585

Signed-off-by: mohammad alqudah <[email protected]>

add colors to flow chart in README

e89ef23

Signed-off-by: mohammad alqudah <[email protected]>

mkquda requested a review from zulfaqar-azmi-t4 September 25, 2024 06:34

zulfaqar-azmi-t4 approved these changes Sep 25, 2024

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mkquda enabled auto-merge (squash) September 25, 2024 06:38

mkquda merged commit 656a78e into autowarefoundation:main Sep 25, 2024
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mkquda deleted the RT1-7829-refactor-code-get-lane-change-paths branch September 25, 2024 07:22

mkquda mentioned this pull request Sep 26, 2024

feat(lane_change): modify lane change target boundary check to consider velocity #8961

Merged

zulfaqar-azmi-t4 mentioned this pull request Dec 20, 2024

perf(lane_change): path stability and correctness tier4/autoware.universe#1720

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refactor(lane_change): refactor getLaneChangePaths function #8909

refactor(lane_change): refactor getLaneChangePaths function #8909

mkquda commented Sep 19, 2024 •

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zulfaqar-azmi-t4 left a comment

refactor(lane_change): refactor getLaneChangePaths function #8909

refactor(lane_change): refactor getLaneChangePaths function #8909

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mkquda commented Sep 19, 2024 • edited Loading

Description

Changes

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How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

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mkquda commented Sep 19, 2024 •

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