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feat(intersection): check path margin for overshoot vehicles on red light #5394

Merged
merged 2 commits into from
Oct 25, 2023
Merged

feat(intersection): check path margin for overshoot vehicles on red light #5394

merged 2 commits into from
Oct 25, 2023

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soblin
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@soblin soblin commented Oct 24, 2023 •
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Description

If the traffic light is red and NPC is stopping with overshoot, check the margin between expected stop distance and collision point.

launcher PR: autowarefoundation/autoware_launch#654

Related links

https://tier4.atlassian.net/browse/RT0-29510

Tests performed

perception reproducer with attached ticket rosbag

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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  • The PR follows the pull request guidelines.
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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 24, 2023
@soblin soblin mentioned this pull request Oct 24, 2023
Merged
7 tasks
@soblin soblin added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 25, 2023
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codecov bot commented Oct 25, 2023 •
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Codecov Report

Attention: 39 lines in your changes are missing coverage. Please review.

Comparison is base (7c3bde1) 14.80% compared to head (a5235c4) 14.80%.
Report is 7 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #5394      +/-   ##
==========================================
- Coverage   14.80%   14.80%   -0.01%     
==========================================
  Files        1662     1662              
  Lines      115421   115460      +39     
  Branches    35635    35658      +23     
==========================================
  Hits        17092    17092              
- Misses      79085    79121      +36     
- Partials    19244    19247       +3
Flag Coverage Δ *Carryforward flag
differential 5.62% <0.00%> (?)
total 14.80% <ø> (+<0.01%) ⬆️ Carriedforward from 7c3bde1

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

Files Coverage Δ
...ity_intersection_module/src/scene_intersection.hpp 0.00% <ø> (ø)
...ior_velocity_intersection_module/src/util_type.hpp 0.00% <ø> (ø)
...g/behavior_velocity_run_out_module/src/manager.cpp 0.00% <ø> (ø)
...ing/behavior_velocity_run_out_module/src/scene.cpp 0.00% <ø> (ø)
...ing/behavior_velocity_run_out_module/src/utils.hpp 0.00% <ø> (ø)
...ehavior_velocity_intersection_module/src/debug.cpp 0.00% <0.00%> (ø)
...avior_velocity_intersection_module/src/manager.cpp 14.18% <0.00%> (-0.16%) ⬇️
...behavior_velocity_intersection_module/src/util.cpp 0.00% <0.00%> (ø)
...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 fe650db into autowarefoundation:main Oct 25, 2023
29 of 33 checks passed
@soblin soblin deleted the feat/intersection/ignore-overshoot-vehicle-on-red-light branch October 25, 2023 01:38
takayuki5168 pushed a commit to tier4/autoware.universe that referenced this pull request Oct 25, 2023
@soblin @takayuki5168
feat(intersection): check path margin for overshoot vehicles on red l…
b3d0e41 
…ight (autowarefoundation#5394)
@takayuki5168 takayuki5168 mentioned this pull request Oct 25, 2023
Closed
4 tasks
takayuki5168 pushed a commit to tier4/autoware.universe that referenced this pull request Oct 25, 2023
@soblin @takayuki5168
feat(intersection): check path margin for overshoot vehicles on red l…
c88d83d 
…ight (autowarefoundation#5394)
t4-x2 added a commit to tier4/autoware.universe that referenced this pull request Oct 26, 2023
@t4-x2
Revert "feat(intersection): check path margin for overshoot vehicles …
e1a645e 
…on red light (autowarefoundation#5394)"

This reverts commit c88d83d.
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Nov 8, 2023
Merged
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Dec 5, 2023
@soblin @TomohitoAndo
feat(intersection): check path margin for overshoot vehicles on red l…
a067b0a 
…ight (autowarefoundation#5394)
@TomohitoAndo TomohitoAndo mentioned this pull request Dec 5, 2023
Merged
4 tasks
TomohitoAndo added a commit to tier4/autoware.universe that referenced this pull request Dec 7, 2023
@TomohitoAndo @soblin
feat(intersection): check path margin for overshoot vehicles on red l…
ae04fa1 
…ight (autowarefoundation#5394) (#1056)

Co-authored-by: Mamoru Sobue <[email protected]>
saka1-s pushed a commit to saka1-s/autoware.universe that referenced this pull request Feb 2, 2024
@TomohitoAndo @soblin @saka1-s
feat(intersection): check path margin for overshoot vehicles on red l…
ca9370c 
…ight (autowarefoundation#5394) (autowarefoundation#1056)

Co-authored-by: Mamoru Sobue <[email protected]>
saka1-s added a commit to tier4/autoware.universe that referenced this pull request Mar 11, 2024
@saka1-s @satoshi-ota
@kminoda @TomohitoAndo @pre-commit-ci @maxime-clem @takeshi-iwanari @YoshiRi @soblin @YamatoAndo @0x126 @SakodaShintaro @mehmetdogru @rej55 @kyoichi-sugahara
feat: keep stop policy v0.11.2 (#1125)
23d651f 
* feat(avoidance): keep stopping until all shift lines are registered

Signed-off-by: satoshi-ota <[email protected]>

* feat(map_loader): display curbstone as marker array (autowarefoundation#4958)

display curbstone as marker array

Signed-off-by: Shohei Sakai <[email protected]>
Co-authored-by: kminoda <[email protected]>

* revert refactoring due to cherry-pick

* feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031)

* feat(ndt_scan_matcher): use glog



* style(pre-commit): autofix

* update



* style(pre-commit): autofix

---------

Signed-off-by: kminoda <[email protected]>
Co-authored-by: kminoda <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(out_of_lane): improve reuse of previous decision (#1017)

* Do not directly reuse a prev stop point but project it on the new path

Signed-off-by: Maxime CLEMENT <[email protected]>

* Improve reuse of the previously inserted stop point

Signed-off-by: Maxime CLEMENT <[email protected]>

* Fix precision of inserted stop point

Signed-off-by: Maxime CLEMENT <[email protected]>

---------

Signed-off-by: Maxime CLEMENT <[email protected]>

* fix(system_monitor): output command line (autowarefoundation#5430) (#1057)

* fix(system_monitor): output command line



* style(pre-commit): autofix

---------

Signed-off-by: takeshi.iwanari <[email protected]>
Co-authored-by: takeshi-iwanari <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: pull tracking object merger from awf/main

Signed-off-by: yoshiri <[email protected]>

* feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (#1056)

Co-authored-by: Mamoru Sobue <[email protected]>

* fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532)

Signed-off-by: yamato-ando <Yamato ANDO>
Co-authored-by: yamato-ando <Yamato ANDO>

* fix(ndt_scan_matcher): delete unmerged feature

* fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951)

Fixed the lock scope in update_ndt

Signed-off-by: Shintaro SAKODA <[email protected]>

* fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (#1075)

fix(utils): fix drivable area expansion logic for zebra zone

Signed-off-by: satoshi-ota <[email protected]>

* fix(bvp): traffic light state debug (#1083)

Signed-off-by: Mehmet Dogru <[email protected]>

* fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#1124)

* fix(traffic_light): stop if the traffic light signal timed out



* fix(traffic_light): fix README format



---------

Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>

* refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (#1098)

* add debug info of qp solver



* no info for EigenLeastSquareLLT



* return 0 in base class

---------

Signed-off-by: kyoichi-sugahara <[email protected]>
Co-authored-by: Kyoichi Sugahara <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

---------

Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: Shohei Sakai <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: takeshi.iwanari <[email protected]>
Signed-off-by: yoshiri <[email protected]>
Signed-off-by: yamato-ando <Yamato ANDO>
Signed-off-by: Shintaro SAKODA <[email protected]>
Signed-off-by: Mehmet Dogru <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>
Co-authored-by: kminoda <[email protected]>
Co-authored-by: Tomohito ANDO <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Maxime CLEMENT <[email protected]>
Co-authored-by: takeshi-iwanari <[email protected]>
Co-authored-by: yoshiri <[email protected]>
Co-authored-by: Mamoru Sobue <[email protected]>
Co-authored-by: Yamato Ando <[email protected]>
Co-authored-by: Shinnosuke Hirakawa <[email protected]>
Co-authored-by: SakodaShintaro <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: Mehmet Dogru <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Kyoichi Sugahara <[email protected]>
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@takayuki5168 takayuki5168 takayuki5168 approved these changes

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

@shmpwk shmpwk Awaiting requested review from shmpwk

@tkimura4 tkimura4 Awaiting requested review from tkimura4

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