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fix(behavior_path_planner): extract obstacles from drivable area without intersection #3741

Merged
merged 2 commits into from
May 18, 2023
Merged

fix(behavior_path_planner): extract obstacles from drivable area without intersection #3741

merged 2 commits into from
May 18, 2023

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takayuki5168
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@takayuki5168 takayuki5168 commented May 17, 2023 •
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Description

In the scenario where dynamic avoidance and avoidance are launching, without this PR, the following obstacle's extraction from the drivable area is ignored since there is no intersection between the obstacle and the bound.
image

Tests performed

planning simulator

Effects on system behavior

Dynamic avoidance can be used with avoidance/lane change module.
There seems to be some corner cases though.

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@takayuki5168
fix(behavior_path_planner): extract obstacles from drivable area with…
967449a 
…out intersection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels May 17, 2023
@takayuki5168 takayuki5168 force-pushed the fix/extract-obstacles-without-intersection branch from 9307621 to 967449a Compare May 17, 2023 16:03
@github-actions github-actions bot removed the type:documentation Creating or refining documentation. (auto-assigned) label May 17, 2023
@takayuki5168 takayuki5168 marked this pull request as ready for review May 17, 2023 16:08
@takayuki5168
update
95faf3a 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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codecov bot commented May 17, 2023

Codecov Report

Patch coverage has no change and project coverage change: +0.05 🎉

Comparison is base (8b41e04) 14.47% compared to head (95faf3a) 14.52%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #3741      +/-   ##
==========================================
+ Coverage   14.47%   14.52%   +0.05%     
==========================================
  Files        1431     1432       +1     
  Lines      100751   102815    +2064     
  Branches    29694    31235    +1541     
==========================================
+ Hits        14579    14933     +354     
- Misses      70376    71753    +1377     
- Partials    15796    16129     +333
Flag Coverage Δ *Carryforward flag
differential 13.22% <0.00%> (?)
total 14.47% <ø> (ø) Carriedforward from 8b41e04

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

Impacted Files Coverage Δ
planning/behavior_path_planner/src/utils/utils.cpp 20.25% <0.00%> (+3.40%) ⬆️

... and 15 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

purewater0901
purewater0901 approved these changes May 18, 2023
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LGTM

@takayuki5168 takayuki5168 merged commit e179ded into autowarefoundation:main May 18, 2023
@takayuki5168 takayuki5168 deleted the fix/extract-obstacles-without-intersection branch May 18, 2023 08:07
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request May 19, 2023
Merged
j4tfwm6z pushed a commit to tier4/autoware.universe that referenced this pull request May 25, 2023
@takayuki5168
fix(behavior_path_planner): extract obstacles from drivable area with…
79d8340 
…out intersection (autowarefoundation#3741)

* fix(behavior_path_planner): extract obstacles from drivable area without intersection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
j4tfwm6z pushed a commit to tier4/autoware.universe that referenced this pull request Jun 22, 2023
@takayuki5168
fix(behavior_path_planner): extract obstacles from drivable area with…
1eb01b3 
…out intersection (autowarefoundation#3741)

* fix(behavior_path_planner): extract obstacles from drivable area without intersection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
takayuki5168 added a commit to tier4/autoware.universe that referenced this pull request Jun 23, 2023
@takayuki5168
fix(behavior_path_planner): extract obstacles from drivable area with…
01d7ce3 
…out intersection (autowarefoundation#3741)

* fix(behavior_path_planner): extract obstacles from drivable area without intersection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
takayuki5168 added a commit to tier4/autoware.universe that referenced this pull request Jun 26, 2023
@takayuki5168
fix(behavior_path_planner): extract obstacles from drivable area with…
0ed6fa3 
…out intersection (autowarefoundation#3741)

* fix(behavior_path_planner): extract obstacles from drivable area without intersection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
1222-takeshi pushed a commit to tier4/autoware.universe that referenced this pull request Jun 26, 2023
@takayuki5168 @satoshi-ota @YoshiRi
hotfix: murooka's change for beta v0.42.1.0 (#615)
08fc2c9 
* feat(dynamic_avoidance): apply LPF to shift length, and positive relative velocity (autowarefoundation#4047)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat(dynamic_avoidance): suppress flickering of dynamic avoidance launching (autowarefoundation#4048)

* feat(dynamic_avoidance): suppress flickering of dynamic avoidance launching

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update config

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat(dynamic_avoidance): ignore cut-out vehicle

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update cut out decision policy

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix(obstacle_avoidance_planner): smooth path connection after optimization (autowarefoundation#3754)

* fix(obstacle_avoidance_planner): smooth path connection after optimization

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix(obstacle_avoidance_planner): fix optimization constraint for narrow-road driving (autowarefoundation#3701)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix(lane_change): copy drivable area info (autowarefoundation#3738)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(map_based_prediction): suppress lane change decision flickering (autowarefoundation#3788)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat(map_based_prediction): disable time delay compensation (autowarefoundation#3806)

* disable time delay compensation

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* fix unused parameter

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* fix lane change decision not working problem due to empty future_lanenet in unconnected lanelets

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* fix(behavior_path_planner): boundary's nearest search (autowarefoundation#3716)

* fix(behavior_path_planner): boundary's nearest search

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix(behavior_path_planner): extract backward obstacles correctly (autowarefoundation#3719)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix(behavior_path_planner): extract obstacles from drivable area without intersection (autowarefoundation#3741)

* fix(behavior_path_planner): extract obstacles from drivable area without intersection

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update map_based_prediction method

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix(avoidance): fix invalid cherry pick

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com>
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Reviewers

@purewater0901 purewater0901 purewater0901 approved these changes

@rej55 rej55 Awaiting requested review from rej55

@kosuke55 kosuke55 Awaiting requested review from kosuke55

@kyoichi-sugahara kyoichi-sugahara Awaiting requested review from kyoichi-sugahara

@satoshi-ota satoshi-ota Awaiting requested review from satoshi-ota

@shmpwk shmpwk Awaiting requested review from shmpwk

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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 Awaiting requested review from zulfaqar-azmi-t4

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