fix(no_stopping_area): skip drawing a stop line in the case where the detected stop lines are goals #7280
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sorry to be late. I'm checking with tier4 internal scenario tests. |
… area in parking on the shoulder (autowarefoundation#6517)" This reverts commit 144b9c7.
…e does not insert stop line
…o_stopping_area.cpp
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… detected stop lines are goals (autowarefoundation#7280) * Revert "fix(no_stopping_area): fix stopping in front of a no stopping area in parking on the shoulder (autowarefoundation#6517)" This reverts commit 144b9c7. * if the stop point is near goal(distance < 1m), no stopping area module does not insert stop line * style(pre-commit): autofix * Update planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: kosuke55 <[email protected]>
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… detected stop lines are goals (autowarefoundation#7280) * Revert "fix(no_stopping_area): fix stopping in front of a no stopping area in parking on the shoulder (autowarefoundation#6517)" This reverts commit 144b9c7. * if the stop point is near goal(distance < 1m), no stopping area module does not insert stop line * style(pre-commit): autofix * Update planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: kosuke55 <[email protected]> Signed-off-by: Simon Eisenmann <[email protected]>
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… detected stop lines are goals (#7280) * Revert "fix(no_stopping_area): fix stopping in front of a no stopping area in parking on the shoulder (#6517)" This reverts commit 144b9c7. * if the stop point is near goal(distance < 1m), no stopping area module does not insert stop line * style(pre-commit): autofix * Update planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: kosuke55 <[email protected]>
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Description
Related PR: #6517
Related Issue: #7081
Related JIRA Tickets: https://tier4.atlassian.net/browse/RT1-6419, https://tier4.atlassian.net/browse/RT1-5039
In the previous PR #6517, I changed source code in the no stopping area module as a temporal solution
to the problem reported and it resulted in the wrong implementation of the module as pointed out in the issue #7081.
For the current PR, I reverted the change of pull/6517 and gave another solution to the original problem.
Detail of the change to solve the problem of PR #6517.
I consulted with @kosuke55 san and gave another solution to the problem of not being able to
enter into the no stopping area when the goal is right behind the no stopping areas.
In
checkStopLinesInNoStoppingAreaofscene_no_stopping_area_module.cpp,I inserted the lines of checking if the stop line detected is near 1m of goal or not.
If the first stop line detected inside the predicted path is near goal, then the no stopping area after this change
skips its own process and does not draw a stop line before the no stopping area.
Tests performed
I confirmed the bug reported in JIRA Ticket https://tier4.atlassian.net/browse/RT1-5039 is resolved, using current version of Autoware.
2024/06/11 https://evaluation.tier4.jp/evaluation/reports/0f925436-b286-5c9d-b72d-6977817653c7/?project_id=prd_jt
Effects on system behavior
Before this change and after the change in #6517,
No stopping area module had not distinguished the two cases of stop lines and stuck vehicles beyond the no stopping area,
and also had not took into account the module margin parameters,
stop_line_margin,stop_marginandstuck_vehicle_front_margin.After this change, the module handles the three cases of goals, stop lines other than goals, and stuck vehicles beyond the no stopping area. These behavior for the latter two cases other than goals is compatible with the current documentation for the no stopping area module.
Interface changes
No Interface changed with this PR.
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