fix(avoidance): turn off blinker when the ego return original lane #6300

satoshi-ota · 2024-02-05T02:35:15Z

Description

Previously, avoidance module continued to turn on blinker until the ego returned original path completely. Sometimes, the module keeped turn signal even when the ego stopped in front of intersection due to red traffic light. However, the signal maybe causes misunderstanding that the ego is going to turn left or right at the intersection.

In this PR, I fixed turn signal calculation logic in order to disable turn signal if the ego stopped in original lane.

simplescreenrecorder-2024-02-05_10.59.41.mp4

Tests performed

PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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codecov · 2024-02-05T04:05:20Z

Codecov Report

Attention: Patch coverage is 0% with 35 lines in your changes are missing coverage. Please review.

Project coverage is 14.64%. Comparing base (8e45709) to head (2114b0e).
Report is 5 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/utils.cpp	0.00%	26 Missing ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	0.00%	8 Missing ⚠️
...planner_common/utils/path_shifter/path_shifter.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6300      +/-   ##
==========================================
- Coverage   14.64%   14.64%   -0.01%     
==========================================
  Files        1899     1899              
  Lines      130283   130303      +20     
  Branches    38311    38324      +13     
==========================================
+ Hits        19082    19083       +1     
- Misses      89785    89802      +17     
- Partials    21416    21418       +2

Flag	Coverage Δ		*Carryforward flag
differential	`11.01% <0.00%> (?)`
total	`14.64% <ø> (+<0.01%)`	⬆️	Carriedforward from 8e45709

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

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Owen-Liuyuxuan · 2024-02-20T08:33:20Z

planning/behavior_path_avoidance_module/src/utils.cpp

@@ -250,16 +250,37 @@ void pushUniqueVector(T & base_vector, const T & additional_vector)
  base_vector.insert(base_vector.end(), additional_vector.begin(), additional_vector.end());
 }

+bool isAvoidShift(const double start_shift_length, const double end_shift_length)
+{
+  constexpr double THRESHOLD = 0.1;


bool isAvoidShift(const double start_shift_length, const double end_shift_length, const double THRESHOLD = 0.1) { return std::abs(start_shift_length) < THRESHOLD && std::abs(end_shift_length) > THRESHOLD; }

Personally, I would wonder if it is helpful to make threshold a "default" argument for these functions?

@Owen-Liuyuxuan Thanks for your comment.
I found sutable params for this threshold. So, I'll fix implementation to use it.
https://github.com/satoshi-ota/autoware_launch/blob/0cd5d891a36ac34a32a417205905c109f2bafe7b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml#L22

Fixed in e677db4.

Thank you. I have no further questions now.

Owen-Liuyuxuan · 2024-02-20T08:39:18Z

planning/behavior_path_avoidance_module/src/utils.cpp

@@ -2286,7 +2324,7 @@ double calcDistanceToReturnDeadLine(
  return distance_to_return_dead_line;
 }

-TurnSignalInfo calcTurnSignalInfo(
+std::pair<TurnSignalInfo, bool> calcTurnSignalInfo(


Thanks for the refactoring.
Personally, with the current change, I would suggest renaming this THRESHOLD into something like current_shift_threshold because it is no longer a "general" threshold in this calcTurnSignalInfo function.
(I am not familiar with the extra influences of renaming this parameter, so it is just a small idea on readability)

Fixed in e677db4.

shmpwk

Aside from Liu-san comments, LGTM

zulfaqar-azmi-t4 · 2024-02-22T15:10:53Z

planning/behavior_path_avoidance_module/src/utils.cpp

+  for (const auto & lane : original_lanes) {
+    if (within(to2D(toLaneletPoint(ego_pos)), lane.polygon2d().basicPolygon())) {
+      return true;
+    }
+  }
+
+  return false;


personally I would suggest std::any_of for this part.

Fixed in a52553a.

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

…utowarefoundation#6300) * refactor(path_shifter): add id to ShiftLine Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): turn off blinker when the ego return original lane Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): use threshold param Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): use lambda Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>

…6300) * refactor(path_shifter): add id to ShiftLine Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): turn off blinker when the ego return original lane Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): use threshold param Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): use lambda Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: Kotaro Yoshimoto <[email protected]>

…utowarefoundation#6300) * refactor(path_shifter): add id to ShiftLine Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): turn off blinker when the ego return original lane Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): use threshold param Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): use lambda Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 5, 2024

satoshi-ota marked this pull request as ready for review February 5, 2024 03:06

satoshi-ota requested review from danielsanchezaran, rej55, kosuke55, soblin, maxime-clem, shmpwk, TakaHoribe, takayuki5168, tkimura4, zulfaqar-azmi-t4, kyoichi-sugahara and TomohitoAndo as code owners February 5, 2024 03:06

satoshi-ota force-pushed the fix/turn-signal branch from 337e87e to 4f6e857 Compare February 5, 2024 07:58

satoshi-ota force-pushed the fix/turn-signal branch from 4f6e857 to 47f7d3e Compare February 13, 2024 10:16

Owen-Liuyuxuan reviewed Feb 20, 2024

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shmpwk approved these changes Feb 22, 2024

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zulfaqar-azmi-t4 reviewed Feb 22, 2024

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satoshi-ota force-pushed the fix/turn-signal branch from 47f7d3e to a52553a Compare February 26, 2024 08:55

satoshi-ota added 4 commits February 26, 2024 20:52

refactor(path_shifter): add id to ShiftLine

7386bb8

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

fix(avoidance): turn off blinker when the ego return original lane

92584dd

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

fix(avoidance): use threshold param

6066b98

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

fix(avoidance): use lambda

2114b0e

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

satoshi-ota force-pushed the fix/turn-signal branch from a52553a to 2114b0e Compare February 26, 2024 13:00

satoshi-ota added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 26, 2024

satoshi-ota merged commit 4b784b4 into autowarefoundation:main Feb 27, 2024
28 of 32 checks passed

satoshi-ota deleted the fix/turn-signal branch February 27, 2024 05:30

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fix(avoidance): turn off blinker when the ego return original lane #6300

fix(avoidance): turn off blinker when the ego return original lane #6300

satoshi-ota commented Feb 5, 2024 •

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fix(avoidance): turn off blinker when the ego return original lane #6300

fix(avoidance): turn off blinker when the ego return original lane #6300

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satoshi-ota commented Feb 5, 2024 • edited Loading

Description

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Effects on system behavior

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