feat(intersection): generate detection lane using RightOfWay and traffic light arrow #2011
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
soblin
requested review from
kosuke55,
kyoichi-sugahara,
mkuri,
satoshi-ota,
shmpwk,
taikitanaka3,
TomohitoAndo,
tkimura4 and
purewater0901
as code owners
Codecov ReportBase: 10.40% // Head: 10.36% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2011 +/- ##
==========================================
- Coverage 10.40% 10.36% -0.04%
==========================================
Files 1169 1169
Lines 83592 83906 +314
Branches 19591 19852 +261
==========================================
Hits 8700 8700
- Misses 65384 65675 +291
- Partials 9508 9531 +23
*This pull request uses carry forward flags. Click here to find out more.
Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. ☔ View full report at Codecov. |
| continue; | ||
| // exclude yield lanelets and ego lanelets from detection_lanelets | ||
| // if assigned lanelet is "straight" with traffic light, detection area is not necessary | ||
| if (turn_direction == std::string("straight") && has_tl) { |
There was a problem hiding this comment.
Is this condition necessary?
Explicitly indicate detection are is not necessary under this consition?
There was a problem hiding this comment.
@soblin
How about this comment?
…ateStopLine (3) do not generate detection area if straight and has_traffic_light Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
soblin
force-pushed
the
feat/right_of_way
branch
from
43a83a3
to
da35445
Compare
|
without this PR confirmed detection area is shorten when right arrow green signal is on. |
scepter914
pushed a commit
to scepter914/autoware.universe
that referenced
this pull request
Nov 1, 2022
…fic light arrow (autowarefoundation#2011) * (1) renamed to getDetectionLanelets (2) use detection_areas for generateStopLine (3) do not generate detection area if straight and has_traffic_light Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * added isTrafficArrowAcitivated Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * checked isTrafficLightArrowActivated() Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * do not get preciding lane if tl_arrow_solid_on Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: scepter914 <scepter914@gmail.com>
soblin
added a commit
to tier4/autoware.universe
that referenced
this pull request
Nov 22, 2022
…fic light arrow (autowarefoundation#2011) * (1) renamed to getDetectionLanelets (2) use detection_areas for generateStopLine (3) do not generate detection area if straight and has_traffic_light Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * added isTrafficArrowAcitivated Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * checked isTrafficLightArrowActivated() Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * do not get preciding lane if tl_arrow_solid_on Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
soblin
added a commit
to soblin/autoware.universe
that referenced
this pull request
Dec 22, 2022
…fic light arrow (autowarefoundation#2011) * (1) renamed to getDetectionLanelets (2) use detection_areas for generateStopLine (3) do not generate detection area if straight and has_traffic_light Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * added isTrafficArrowAcitivated Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * checked isTrafficLightArrowActivated() Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * do not get preciding lane if tl_arrow_solid_on Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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
Changed how to set RightOfWay tag on Lanelet2 map at the intersections w/o traffic lights and w/o left/right only traffic lights.
All of the 11 cases listed below are handled.
straight
right
You can see how the detection lanes change if the traffic light changed to turn right only.
tl_right_arrow_change.mp4
left
turn left only traffic light was not available so that case is not tested.
Related links
Jira link: https://tier4.atlassian.net/browse/T4PB-21423
Notes for reviewers
I will update lanelet2_extension document as well.
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.