feat(lane_change): combine terminal lane change path at waiting approval #6176

rej55 · 2024-01-25T09:14:18Z

Description

Before this change, we cannot lane change if some objects on the terminal lane change path.
To solve this problem, I add two functions.

Combine terminal lane change path at waiting approval
Filter objects on the terminal lane change path

Tests performed

TIER IV INTERNAL LINK

Screencast.from.2024.01.25.18.12.12.webm

Effects on system behavior

Enable to lane change at terminal.

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zulfaqar-azmi-t4 · 2024-01-25T09:21:09Z

planning/behavior_path_lane_change_module/src/interface.cpp

@@ -122,16 +122,19 @@ BehaviorModuleOutput LaneChangeInterface::plan()

 BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
 {
+  module_type_->updateLaneChangeStatus();


updateLaneChangeStatus() is called in updateData() . is there any reason adding them here?

Thanks. Done.
f2b605f

zulfaqar-azmi-t4 · 2024-01-25T09:23:18Z

planning/behavior_path_lane_change_module/src/interface.cpp

+  module_type_->setPreviousModulePaths(
+    getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path);
+  setObjectDebugVisualization();


These two lines has already been updated in updateData(). is there any reason adding them here?

Done.
82a6f28

Signed-off-by: Fumiya Watanabe <[email protected]>

zulfaqar-azmi-t4

LGTM!

intersection case

cap-.2024-01-30-10-57-02.mp4

straight line case

cap-.2024-01-30-10-58-05.mp4

codecov · 2024-01-30T02:36:14Z

Codecov Report

Attention: 112 lines in your changes are missing coverage. Please review.

Comparison is base (e49d63c) 14.39% compared to head (7e0fbe4) 14.38%.
Report is 2 commits behind head on main.

Files	Patch %	Lines
...ing/behavior_path_lane_change_module/src/scene.cpp	0.00%	103 Missing ⚠️
...behavior_path_lane_change_module/src/interface.cpp	0.00%	5 Missing ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6176      +/-   ##
==========================================
- Coverage   14.39%   14.38%   -0.02%     
==========================================
  Files        1905     1905              
  Lines      129699   129803     +104     
  Branches    37471    37537      +66     
==========================================
  Hits        18674    18674              
- Misses      90052    90156     +104     
  Partials    20973    20973

Flag	Coverage Δ		*Carryforward flag
differential	`8.75% <0.00%> (?)`
total	`14.39% <ø> (+<0.01%)`	⬆️	Carriedforward from e49d63c

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

☔ View full report in Codecov by Sentry.
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…val (autowarefoundation#6176) * saved Signed-off-by: Fumiya Watanabe <[email protected]> * feat(lane_change): fix drivable area info Signed-off-by: Fumiya Watanabe <[email protected]> * feat(lane_change): update filter object Signed-off-by: Fumiya Watanabe <[email protected]> * feat(lane_change): fix turn signal Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): fix typo Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): remove updateLaneChangeStatus() Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): remove redundant process Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): calculate distance to goal Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): add empty guard Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]>

rej55 requested review from kosuke55, shmpwk, TomohitoAndo, tkimura4 and zulfaqar-azmi-t4 as code owners January 25, 2024 09:14

rej55 assigned zulfaqar-azmi-t4 Jan 25, 2024

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 25, 2024

zulfaqar-azmi-t4 reviewed Jan 25, 2024

View reviewed changes

rej55 force-pushed the feat/terminal_lane_change branch 4 times, most recently from a3ec01d to a61d7be Compare January 29, 2024 06:40

rej55 added 9 commits January 29, 2024 19:07

saved

e9bc874

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(lane_change): fix drivable area info

1e581f6

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(lane_change): update filter object

9fa11a1

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(lane_change): fix turn signal

d9a06c0

Signed-off-by: Fumiya Watanabe <[email protected]>

fix(lane_change): fix typo

bebc6ec

Signed-off-by: Fumiya Watanabe <[email protected]>

fix(lane_change): remove updateLaneChangeStatus()

d55def5

Signed-off-by: Fumiya Watanabe <[email protected]>

fix(lane_change): remove redundant process

0dec1cd

Signed-off-by: Fumiya Watanabe <[email protected]>

fix(lane_change): calculate distance to goal

48d5355

Signed-off-by: Fumiya Watanabe <[email protected]>

fix(lane_change): add empty guard

1dc6ee3

Signed-off-by: Fumiya Watanabe <[email protected]>

rej55 force-pushed the feat/terminal_lane_change branch from a61d7be to 1dc6ee3 Compare January 29, 2024 10:07

Merge branch 'main' into feat/terminal_lane_change

7e0fbe4

zulfaqar-azmi-t4 approved these changes Jan 30, 2024

View reviewed changes

zulfaqar-azmi-t4 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 30, 2024

rej55 enabled auto-merge (squash) January 30, 2024 02:09

rej55 merged commit 47f265d into autowarefoundation:main Jan 30, 2024
31 of 35 checks passed

tier4-autoware-public-bot bot mentioned this pull request Feb 7, 2024

chore: sync upstream tier4/autoware.universe#1130

Merged

rej55 deleted the feat/terminal_lane_change branch February 9, 2024 08:29

rej55 mentioned this pull request Feb 9, 2024

feat(lane_change): terminal lane change and abort behavior tier4/autoware.universe#1141

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feat(lane_change): combine terminal lane change path at waiting approval #6176

feat(lane_change): combine terminal lane change path at waiting approval #6176

rej55 commented Jan 25, 2024 •

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codecov bot commented Jan 30, 2024

feat(lane_change): combine terminal lane change path at waiting approval #6176

feat(lane_change): combine terminal lane change path at waiting approval #6176

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rej55 commented Jan 25, 2024 • edited Loading

Description

Tests performed

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

zulfaqar-azmi-t4 Jan 25, 2024 • edited Loading

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intersection case

straight line case

codecov bot commented Jan 30, 2024

Codecov Report

rej55 commented Jan 25, 2024 •

edited

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zulfaqar-azmi-t4 Jan 25, 2024 •

edited

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