Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(obstacle_avoidance_planner): fix drivable area checker (#2639) #243

Merged
merged 1 commit into from
Jan 13, 2023
Merged

fix(obstacle_avoidance_planner): fix drivable area checker (#2639) #243

merged 1 commit into from
Jan 13, 2023

Conversation

tkimura4
Copy link
Collaborator

@tkimura4 tkimura4 commented Jan 13, 2023 •
edited
Loading

Description

autowarefoundation#2639
Hotfix to beta/v0.7.0

Currently, the obstacle avoidance planner checks if the footprint of the vehicle is outside of the drivable area by lateral distance from the left and right boundary. However, this method does not work well when the boundary is not straight. In this PR, I use the polygon instead of the line to check if the footprint is outside of the drivable area.
For example, in the following scene, the trajectory point will be judged outside of the drivable area even though it is inside of it. This is because it uses the line created by point0 and point1, so the trajectory point is judged to be located right side of the line.

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.

  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

@purewater0901 @tkimura4
fix(obstacle_avoidance_planner): fix drivable area checker (autowaref…
ea59c45 
…oundation#2639)

* fix(obstacle_avoidance_planner): fix drivable area checker

Signed-off-by: yutaka <purewater0901@gmail.com>

* fix format

Signed-off-by: yutaka <purewater0901@gmail.com>

Signed-off-by: yutaka <purewater0901@gmail.com>
@tkimura4 tkimura4 requested review from purewater0901, shmpwk and 1222-takeshi and removed request for takayuki5168 and kosuke55 January 13, 2023 02:31
1222-takeshi
1222-takeshi approved these changes Jan 13, 2023
View reviewed changes
Copy link

@1222-takeshi 1222-takeshi left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM

@tkimura4 tkimura4 enabled auto-merge (squash) January 13, 2023 02:34
@tkimura4 tkimura4 merged commit dd5275c into beta/v0.7.0 Jan 13, 2023
@tkimura4 tkimura4 deleted the fix/drivable-area-checker-0.7.0 branch January 13, 2023 02:35
maxime-clem pushed a commit to maxime-clem/autoware.universe that referenced this pull request Feb 7, 2024
@brkay54 @pre-commit-ci
feat: add plotjuggler into docker image (tier4#243)
8af8fbc 
* add plotjuggler into docker image

Signed-off-by: Berkay <berkay@leodrive.ai>

* ci(pre-commit): autofix

* updated ansible playbooks and readme files

Signed-off-by: Berkay <berkay@leodrive.ai>

* update universe.yaml

Signed-off-by: Berkay <berkay@leodrive.ai>

Co-authored-by: Berkay <berkay@leodrive.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@1222-takeshi 1222-takeshi 1222-takeshi approved these changes

@purewater0901 purewater0901 Awaiting requested review from purewater0901

@shmpwk shmpwk Awaiting requested review from shmpwk

Assignees
No one assigned
Labels
planning
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@tkimura4 @1222-takeshi @purewater0901