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fix(avoidance): fix bugs in parked vehicle filtering logic #7072

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merged 3 commits into from
May 31, 2024

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satoshi-ota
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@satoshi-ota satoshi-ota commented May 20, 2024

Description

This PR includes followng bug fixes:

Sometimes, the module didn't judge whether the vehicle was on ego lane properly.

Check if object's lane within/without not only for object's closest lane but also its next/prev lanes.

image

The module avoided vehicles unexpectedly.

If there was road shoulder lane on left side, the module created avoidance path not only for vehicle whose footprint was on road shoulder lane but also vehicles stopped without pulling over the side of the road.

image

The module ignored vehicle within virtual intersection for entering private area.

Use location tag to judge if it's a virtual intersection or not.

image

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

Interface changes

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label May 20, 2024
@satoshi-ota satoshi-ota force-pushed the fix/on-ego-lane branch 2 times, most recently from f3259f8 to 9d3e6a9 Compare May 23, 2024 23:52
@satoshi-ota satoshi-ota marked this pull request as ready for review May 30, 2024 05:47
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@go-sakayori go-sakayori left a comment

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LGTM

@shmpwk shmpwk added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label May 30, 2024
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LGTM

@satoshi-ota satoshi-ota enabled auto-merge (squash) May 30, 2024 10:57
@satoshi-ota satoshi-ota disabled auto-merge May 30, 2024 11:02
@satoshi-ota satoshi-ota enabled auto-merge (squash) May 31, 2024 06:05
@satoshi-ota satoshi-ota merged commit fea4ed9 into autowarefoundation:main May 31, 2024
24 of 26 checks passed
@satoshi-ota satoshi-ota deleted the fix/on-ego-lane branch May 31, 2024 07:05
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…oundation#7072)

* fix(avoidance): check prev/next lane

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

* fix(avoidance): fix parked vehicle filtering

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

* fix(avoidance): check intersection location

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

---------

Signed-off-by: satoshi-ota <[email protected]>
a-maumau pushed a commit to a-maumau/autoware.universe that referenced this pull request Jun 7, 2024
…oundation#7072)

* fix(avoidance): check prev/next lane

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

* fix(avoidance): fix parked vehicle filtering

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

* fix(avoidance): check intersection location

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

---------

Signed-off-by: satoshi-ota <[email protected]>
shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Jun 13, 2024
…oundation#7072)

* fix(avoidance): check prev/next lane

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

* fix(avoidance): fix parked vehicle filtering

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

* fix(avoidance): check intersection location

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

---------

Signed-off-by: satoshi-ota <[email protected]>
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
* fix(avoidance): check prev/next lane

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

* fix(avoidance): fix parked vehicle filtering

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

* fix(avoidance): check intersection location

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

---------

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