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feat(drivable area expansion): do not over expand beyond the desired width #5640

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maxime-clem
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@maxime-clem maxime-clem commented Nov 21, 2023

Description

This PR improves the calculations of the drivable area expansion. Previously, the left and right bounds were expanded independently. With this PR, they are expanded together such that the resulting drivable area width is more accurately equals to the desired width.
Required launch PR: autowarefoundation/autoware_launch#755

Tests performed

Psim
Evaluator (TIER IV INTERNAL LINK):

Effects on system behavior

drivable area expansion more accurately achieve the desired minimum width.

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Nov 21, 2023
@maxime-clem maxime-clem marked this pull request as ready for review November 21, 2023 11:14
@maxime-clem maxime-clem added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 21, 2023
@maxime-clem maxime-clem force-pushed the drivable_area_expansion/min_lane_width-universe branch from 27933fd to 59685d8 Compare November 27, 2023 02:55
@maxime-clem maxime-clem requested a review from soblin as a code owner November 27, 2023 02:55
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codecov bot commented Nov 27, 2023

Codecov Report

Attention: 57 lines in your changes are missing coverage. Please review.

Comparison is base (83d316c) 15.28% compared to head (84fee4e) 15.28%.
Report is 2 commits behind head on main.

Files Patch % Lines
...rivable_area_expansion/drivable_area_expansion.cpp 50.00% 32 Missing and 21 partials ⚠️
...anner_common/test/test_drivable_area_expansion.cpp 0.00% 0 Missing and 3 partials ⚠️
...or_path_planner/src/behavior_path_planner_node.cpp 0.00% 0 Missing and 1 partial ⚠️
Additional details and impacted files
@@           Coverage Diff            @@
##             main    #5640    +/-   ##
========================================
  Coverage   15.28%   15.28%            
========================================
  Files        1750     1750            
  Lines      120435   120784   +349     
  Branches    36731    36945   +214     
========================================
+ Hits        18405    18460    +55     
- Misses      81378    81638   +260     
- Partials    20652    20686    +34     
Flag Coverage Δ *Carryforward flag
differential 11.82% <50.43%> (?)
total 15.26% <ø> (-0.02%) ⬇️ Carriedforward from 83d316c

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

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@danielsanchezaran danielsanchezaran left a comment

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Thank you very much for this PR!
In general LGTM. The logic might be a little hard to follow when using the mapping indexes, so if you can put one or two comments in key places to explain the code it would be good, but not necessary. I leave it to your discretion.

@maxime-clem
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@danielsanchezaran thank you for your review. I addressed all comments.
I had to rename one parameter so there is now a PR for autoware_launch: autowarefoundation/autoware_launch#755
Please approve it as well. Thank you.

@maxime-clem maxime-clem merged commit 7778982 into autowarefoundation:main Dec 26, 2023
33 of 37 checks passed
@maxime-clem maxime-clem deleted the drivable_area_expansion/min_lane_width-universe branch December 26, 2023 00:24
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 26, 2024
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
satoshi-ota pushed a commit to tier4/autoware.universe that referenced this pull request Jun 6, 2024
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4 participants