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feat(intersection): aggressively peek into attention area if traffic light does not exist #5192

Merged
merged 8 commits into from
Oct 4, 2023
Merged

feat(intersection): aggressively peek into attention area if traffic light does not exist #5192

merged 8 commits into from
Oct 4, 2023

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soblin
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@soblin soblin commented Oct 2, 2023 •
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Description

When there are no traffic lights, ego will make two brief stops before entering the attention area, and then creep while taking care of the collisions.

Related links

https://tier4.atlassian.net/browse/RT1-2831

launcher PR: autowarefoundation/autoware_launch#611

Tests performed

https://evaluation.tier4.jp/evaluation/reports/751a7e16-3c27-5375-a6d9-39f54a760c95?project_id=prd_jt

Psim

If occlusion is detected at intersection without traffic light, the ego vehicle will make two brief stops before entering the attention area ([00:10] in the video). Then it slowly drives while taking care of collisions with other upcoming vehicles.

PR519.-2023-10-03_23.04.25.mp4

Manual mode

As of this PR when there is no traffic light in the intersection, only INTERSECTION can be controlled manually, and when the two phase stops are executed, ego vehicle will automatically creep while occlusion is detected. During the creeping, collision detection is enabled.

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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@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 Oct 2, 2023
@soblin soblin force-pushed the feat/intersection/absence-traffic-light-peeking branch from 77ec0c8 to e1bc506 Compare October 2, 2023 06:04
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) and removed type:documentation Creating or refining documentation. (auto-assigned) labels Oct 2, 2023
@soblin soblin mentioned this pull request Oct 2, 2023
Merged
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@soblin soblin added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Oct 2, 2023
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github-actions bot commented Oct 2, 2023

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5192/
Modified URLs:

@soblin soblin force-pushed the feat/intersection/absence-traffic-light-peeking branch from b64412c to 75ffb78 Compare October 3, 2023 01:40
@soblin soblin marked this pull request as ready for review October 3, 2023 04:26
@kyoichi-sugahara kyoichi-sugahara self-assigned this Oct 3, 2023
soblin added 8 commits October 3, 2023 17:28
@soblin
add peeking_offset_absence_tl param
89ec58b 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
add OccludedAbsenceTrafficLight state
3681a90 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
refactor
8ce56fc 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
more refactor
a7a02e1 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
update docs
4611220 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
fix spell
fc01a64 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
add data structure figure
e59f18b 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
fix int_occ virt_wall pos when absence_tl
880ae61 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin soblin force-pushed the feat/intersection/absence-traffic-light-peeking branch from 0bcceb1 to 880ae61 Compare October 3, 2023 08:44
@soblin soblin added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 3, 2023
soblin added a commit to soblin/autoware.universe that referenced this pull request Oct 3, 2023
@soblin
preempt autowarefoundation#5192 (#31)
36c0d3c 
Signed-off-by: Mamoru Sobue <[email protected]>
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codecov bot commented Oct 3, 2023 •
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Codecov Report

Attention: 116 lines in your changes are missing coverage. Please review.

Comparison is base (81ede03) 14.77% compared to head (880ae61) 14.76%.
Report is 5 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #5192      +/-   ##
==========================================
- Coverage   14.77%   14.76%   -0.01%     
==========================================
  Files        1645     1645              
  Lines      113788   113847      +59     
  Branches    35012    35038      +26     
==========================================
  Hits        16809    16809              
- Misses      78092    78146      +54     
- Partials    18887    18892       +5
Flag Coverage Δ *Carryforward flag
differential 6.47% <0.00%> (?)
total 14.78% <ø> (+<0.01%) ⬆️ Carriedforward from 81ede03

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

Files Coverage Δ
...behavior_velocity_intersection_module/src/util.cpp 0.00% <ø> (ø)
...ior_velocity_intersection_module/src/util_type.hpp 0.00% <ø> (ø)
...ity_intersection_module/src/scene_intersection.hpp 0.00% <0.00%> (ø)
...ehavior_velocity_intersection_module/src/debug.cpp 0.00% <0.00%> (ø)
...avior_velocity_intersection_module/src/manager.cpp 16.59% <0.00%> (-0.67%) ⬇️
...ity_intersection_module/src/scene_intersection.cpp 0.00% <0.00%> (ø)

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

@soblin soblin merged commit 6155f1f into autowarefoundation:main Oct 4, 2023
33 of 37 checks passed
@soblin soblin deleted the feat/intersection/absence-traffic-light-peeking branch October 4, 2023 00:50
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Oct 4, 2023
@soblin @kyoichi-sugahara
feat(intersection): aggressively peek into attention area if traffic …
eefb212 
…light does not exist (autowarefoundation#5192)

Signed-off-by: Mamoru Sobue <[email protected]>
@soblin soblin mentioned this pull request Oct 4, 2023
Merged
7 tasks
soblin added a commit to tier4/autoware.universe that referenced this pull request Oct 5, 2023
@soblin
feat(intersection): aggressively peek into attention area if traffic …
73d62ef 
…light does not exist (autowarefoundation#5192)

Signed-off-by: Mamoru Sobue <[email protected]>
takayuki5168 pushed a commit to tier4/autoware.universe that referenced this pull request Oct 8, 2023
@soblin @takayuki5168
feat(intersection): aggressively peek into attention area if traffic …
f636234 
…light does not exist (autowarefoundation#5192)

Signed-off-by: Mamoru Sobue <[email protected]>
This was referenced Oct 11, 2023
Merged
Merged
takayuki5168 pushed a commit to tier4/autoware.universe that referenced this pull request Oct 11, 2023
@soblin @takayuki5168
feat(intersection): aggressively peek into attention area if traffic …
a798bcf 
…light does not exist (autowarefoundation#5192)

Signed-off-by: Mamoru Sobue <[email protected]>
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Reviewers

@kyoichi-sugahara kyoichi-sugahara kyoichi-sugahara approved these changes

@shmpwk shmpwk Awaiting requested review from shmpwk

@takayuki5168 takayuki5168 Awaiting requested review from takayuki5168

@tkimura4 tkimura4 Awaiting requested review from tkimura4

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@kyoichi-sugahara kyoichi-sugahara

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