feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

kosuke55 · 2023-12-27T08:10:34Z

Description

avoidance_pull_over-2023-12-27_01.39.07.mp4

lane change -> avoidance -> pull over

lane_change_avoidance_pull_over-2023-12-27_17.18.59.mp4

avoidance_pull_over-2024-01-16_23.47.14.mp4

Tests performed

psim

tier4 internal scenario test
https://evaluation.tier4.jp/evaluation/reports/tables/new?catalog_id=095ae8b3-a23b-4a08-8674-10a681449693&filter=&job_id=bcbb2adf-0904-5c8b-b0f1-6eaf837e4558&project_id=prd_jt&table_config=date%2Ctotal%2Chide&target_ids=a205cd03-61b1-5905-b957-d200d9e1e69e

Notes for reviewers

Interface changes

none

Effects on system behavior

none

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

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.
The PR is ready for merge.

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

codecov · 2024-01-11T17:14:44Z

Codecov Report

Attention: 250 lines in your changes are missing coverage. Please review.

Comparison is base (3928295) 14.64% compared to head (c140aef) 14.62%.
Report is 1 commits behind head on main.

Files	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	63 Missing ⚠️
...ing/behavior_path_goal_planner_module/src/util.cpp	0.00%	63 Missing ⚠️
...path_avoidance_module/src/shift_line_generator.cpp	0.00%	46 Missing and 1 partial ⚠️
...r_path_goal_planner_module/src/shift_pull_over.cpp	0.00%	35 Missing ⚠️
...g/behavior_path_planner_common/src/utils/utils.cpp	16.12%	22 Missing and 4 partials ⚠️
...nning/behavior_path_avoidance_module/src/utils.cpp	0.00%	7 Missing and 2 partials ⚠️
.../behavior_path_goal_planner_module/src/manager.cpp	0.00%	3 Missing ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 2 partials ⚠️
...de/behavior_path_avoidance_module/data_structs.hpp	0.00%	1 Missing ⚠️
...ath_goal_planner_module/pull_over_planner_base.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5979      +/-   ##
==========================================
- Coverage   14.64%   14.62%   -0.02%     
==========================================
  Files        1858     1858              
  Lines      126839   127028     +189     
  Branches    37171    37216      +45     
==========================================
+ Hits        18570    18575       +5     
- Misses      87381    87556     +175     
- Partials    20888    20897       +9

Flag	Coverage Δ		*Carryforward flag
differential	`11.63% <1.96%> (?)`
total	`14.64% <ø> (+<0.01%)`	⬆️	Carriedforward from 3928295

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

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

Signed-off-by: kosuke55 <[email protected]>

…ommon Signed-off-by: kosuke55 <[email protected]>

Signed-off-by: kosuke55 <[email protected]>

kyoichi-sugahara

LGTM!

…neously (autowarefoundation#5979) * feat(avoidance/goal_planner): execute avoidance and pull over simultaneously Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]> * use utils Signed-off-by: kosuke55 <[email protected]> * fix overlapped Signed-off-by: kosuke55 <[email protected]> * reafactor(behavior_path_planner): move isAllowedGoalModification to common Signed-off-by: kosuke55 <[email protected]> * fix readme Signed-off-by: kosuke55 <[email protected]> * add goal modification condtion to avoidance Signed-off-by: kosuke55 <[email protected]> * clean up * revert param Signed-off-by: kosuke55 <[email protected]> * fix param Signed-off-by: kosuke55 <[email protected]> * move dead line process Signed-off-by: kosuke55 <[email protected]> * fix condition Signed-off-by: kosuke55 <[email protected]> * fix crop Signed-off-by: kosuke55 <[email protected]> * fix crop * fix typos Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>

github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Dec 27, 2023

kosuke55 changed the title ~~feat(avoidance/goal_planner): avoidance while pull over~~ feat(avoidance/goal_planner): execute avoidance and pull over simultaneously Dec 27, 2023

kosuke55 force-pushed the feat/avoidance_pull_over branch from 8cbefad to f534665 Compare December 28, 2023 13:36

kosuke55 force-pushed the feat/avoidance_pull_over branch from f534665 to 225a07a Compare January 11, 2024 02:42

github-actions bot removed the component:common Common packages from the autoware-common repository. (auto-assigned) label Jan 11, 2024

kosuke55 force-pushed the feat/avoidance_pull_over branch 2 times, most recently from 218aad6 to 8f66df0 Compare January 11, 2024 15:48

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jan 11, 2024

kosuke55 force-pushed the feat/avoidance_pull_over branch from 8f66df0 to 423b709 Compare January 11, 2024 15:49

kosuke55 mentioned this pull request Jan 11, 2024

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously autowarefoundation/autoware_launch#782

Merged

7 tasks

kosuke55 force-pushed the feat/avoidance_pull_over branch from 423b709 to 97dd037 Compare January 11, 2024 15:54

kosuke55 marked this pull request as ready for review January 11, 2024 15:56

kosuke55 requested review from danielsanchezaran, rej55, soblin, maxime-clem, satoshi-ota, shmpwk, TakaHoribe, takayuki5168, tkimura4, zulfaqar-azmi-t4, kyoichi-sugahara and TomohitoAndo as code owners January 11, 2024 15:56

kosuke55 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 11, 2024

kosuke55 force-pushed the feat/avoidance_pull_over branch 2 times, most recently from 10b8e1e to 460ad01 Compare January 11, 2024 16:27

kosuke55 assigned satoshi-ota Jan 11, 2024

kosuke55 added 12 commits January 16, 2024 14:27

fix overlapped

daea061

Signed-off-by: kosuke55 <[email protected]>

reafactor(behavior_path_planner): move isAllowedGoalModification to c…

ce161b6

…ommon Signed-off-by: kosuke55 <[email protected]>

fix readme

0269cb5

Signed-off-by: kosuke55 <[email protected]>

add goal modification condtion to avoidance

8ceaaec

Signed-off-by: kosuke55 <[email protected]>

clean up

3206f3e

revert param

9db5fea

Signed-off-by: kosuke55 <[email protected]>

fix param

80929ef

Signed-off-by: kosuke55 <[email protected]>

move dead line process

a6f988d

Signed-off-by: kosuke55 <[email protected]>

fix condition

87a1cf3

Signed-off-by: kosuke55 <[email protected]>

fix crop

0ed38f4

Signed-off-by: kosuke55 <[email protected]>

fix crop

62833d2

fix typos

c140aef

Signed-off-by: kosuke55 <[email protected]>

kosuke55 force-pushed the feat/avoidance_pull_over branch from 2bd6c7b to c140aef Compare January 16, 2024 05:28

kosuke55 assigned kyoichi-sugahara Jan 16, 2024

kyoichi-sugahara approved these changes Jan 16, 2024

View reviewed changes

satoshi-ota approved these changes Jan 16, 2024

View reviewed changes

kosuke55 merged commit c3f8e0a into main Jan 16, 2024
23 of 28 checks passed

kosuke55 deleted the feat/avoidance_pull_over branch January 16, 2024 14:32

tier4-autoware-public-bot bot mentioned this pull request Jan 24, 2024

chore: sync upstream tier4/autoware.universe#1116

Merged

kosuke55 mentioned this pull request Feb 1, 2024

PullOver/Out limitation and development plan #3223

Closed

3 tasks

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

kosuke55 commented Dec 27, 2023 •

edited

Loading

codecov bot commented Jan 11, 2024 •

edited

Loading

kyoichi-sugahara left a comment

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

Conversation

kosuke55 commented Dec 27, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Jan 11, 2024 • edited Loading

Codecov Report

kyoichi-sugahara left a comment

Choose a reason for hiding this comment

kosuke55 commented Dec 27, 2023 •

edited

Loading

codecov bot commented Jan 11, 2024 •

edited

Loading