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fix(behavior_path_planner): avoid invalid access #3923

Merged
merged 1 commit into from
Jun 8, 2023
Merged

fix(behavior_path_planner): avoid invalid access #3923

merged 1 commit into from
Jun 8, 2023

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tkimura4
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@tkimura4 tkimura4 commented Jun 8, 2023 •
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Description

During manual driving or automatic driving of vehicles with large control errors, the behavior_path_planner node will die if Lane_Change is activated in a situation where the vehicle speed is higher than expected.
This is due to accessing the null output.path, so I fixed it.
image

image

Related links

Tests performed

I tested on planning_simulator.

Notes for reviewers

Interface changes

none

Effects on system behavior

As the description. (Almost no effect on automatic driving )

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@tkimura4
fix(behavior_path_planner): avoid invalid access
2e1b47e 
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jun 8, 2023
shmpwk
shmpwk approved these changes Jun 8, 2023
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LGTM!

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codecov bot commented Jun 8, 2023 •
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Codecov Report

Patch coverage has no change and project coverage change: -0.08 ⚠️

Comparison is base (f700808) 14.11% compared to head (2e1b47e) 14.04%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #3923      +/-   ##
==========================================
- Coverage   14.11%   14.04%   -0.08%     
==========================================
  Files        1444     1455      +11     
  Lines      101928   105656    +3728     
  Branches    27197    29818    +2621     
==========================================
+ Hits        14387    14839     +452     
- Misses      71774    74541    +2767     
- Partials    15767    16276     +509
Flag Coverage Δ *Carryforward flag
differential 13.04% <ø> (?)
total 14.11% <ø> (ø) Carriedforward from f700808

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

see 28 files with indirect coverage changes

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satoshi-ota
satoshi-ota approved these changes Jun 8, 2023
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LGTM

@tkimura4 tkimura4 merged commit 35f94d0 into autowarefoundation:main Jun 8, 2023
@tkimura4 tkimura4 deleted the fix/invalid_access_in_generate_drivable_area branch June 8, 2023 13:32
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Jun 8, 2023
@tkimura4 @kyoichi-sugahara
fix(behavior_path_planner): avoid invalid access (autowarefoundation#…
b206444 
…3923)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jun 9, 2023
Merged
shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Jun 9, 2023
@tkimura4 @shmpwk
fix(behavior_path_planner): avoid invalid access (autowarefoundation#…
3b94740 
…3923)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
kyoichi-sugahara added a commit that referenced this pull request Jun 14, 2023
@kyoichi-sugahara @tkimura4 @zulfaqar-azmi-t4
refactor(behavior_path_planner): generalize safety check function (#3968
9e7dc27 
)

* temp

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* temp

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* fix(compare_map_segmentation): initialize timer_callback_group_ (#3914)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix(behavior_path_planner): small refactoring for resamplePathWithSpline (#3922)

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix(behavior_path_planner): avoid invalid access (#3923)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* temo

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* create PredictedPath debug marker

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* delete debug print

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* refactoring

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* refactor

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* refactoring

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* refactoring

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* add param for predicted path generation

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* refactoring

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* temp

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* generalize safety check function

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* delete unnecessary difference

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* modify call refactored function

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* Update planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp

Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

* Update planning/behavior_path_planner/src/utils/safety_check.cpp

Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
kyoichi-sugahara added a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Jun 16, 2023
@kyoichi-sugahara
Squashed commit of the following:
bf08a58 
commit 3dcfb6e
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Tue Jun 13 14:41:19 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit eeb884c
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Tue Jun 13 14:13:34 2023 +0900

    refactoring

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 50e8346
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Tue Jun 13 13:50:49 2023 +0900

    refactoring

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 9063019
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Tue Jun 13 13:22:49 2023 +0900

    refactor

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 5fe015a
Merge: ab7d208 f09e575
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Tue Jun 13 12:56:28 2023 +0900

    Merge branch 'main' into feature/create_predicted_path_from_target_velcoity

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit ab7d208
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Sat Jun 10 01:17:41 2023 +0900

    refactoring

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 6eb0dae
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Sat Jun 10 00:54:05 2023 +0900

    delete debug print

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 57e75c4
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Sat Jun 10 00:52:06 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 89bfa91
Merge: abaf563 fc08b4f
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 21:26:18 2023 +0900

    Merge branch 'main' into feature/create_predicted_path_from_target_velcoity

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit abaf563
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 20:37:08 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 1b32573
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 20:00:41 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 9db1416
Merge: 1ae32a3 21b6403
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 19:23:51 2023 +0900

    Merge branch 'main' into feature/create_predicted_path_from_target_velcoity

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 1ae32a3
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 18:45:19 2023 +0900

    create PredictedPath debug marker

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 1bc6451
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 15:45:09 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 6c78054
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 14:55:22 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit df7cbc1
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 14:43:52 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 0210dc1
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 14:31:58 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit f01e8e1
Merge: d9f8edb 35f94d0
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 12:17:24 2023 +0900

    Merge branch 'main' into feature/add_safety_checker_pull_out

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit d9f8edb
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Fri Jun 9 12:07:51 2023 +0900

    temo

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit b206444
Author: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date:   Thu Jun 8 22:32:40 2023 +0900

    fix(behavior_path_planner): avoid invalid access (autowarefoundation#3923)

    Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

commit 6aa9f02
Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date:   Thu Jun 8 18:02:30 2023 +0900

    fix(behavior_path_planner): small refactoring for resamplePathWithSpline (autowarefoundation#3922)

    Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

commit 880216a
Author: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date:   Thu Jun 8 17:34:31 2023 +0900

    fix(compare_map_segmentation): initialize timer_callback_group_ (autowarefoundation#3914)

    Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

commit 920a0cb
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Thu Jun 8 19:14:32 2023 +0900

    update

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit a75cf49
Merge: e27face 69e89d9
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Thu Jun 8 16:30:09 2023 +0900

    Merge branch 'main' into feature/add_safety_checker_pull_out

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit e27face
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Tue Jun 6 19:36:32 2023 +0900

    temp

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

commit 7ec623e
Author: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date:   Tue Jun 6 16:29:51 2023 +0900

    add function to create PredictedPath from target velocity

    Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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@satoshi-ota satoshi-ota satoshi-ota approved these changes

@shmpwk shmpwk shmpwk 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

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@tkimura4 @shmpwk @satoshi-ota