fix(lane_change): check obj predicted path when filtering #9385
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| @@ -368,5 +368,8 @@ bool filter_target_lane_objects( | |||
| const double dist_ego_to_current_lanes_center, const bool ahead_of_ego, | |||
| const bool before_terminal, TargetLaneLeadingObjects & leading_objects, | |||
| ExtendedPredictedObjects & trailing_objects); | |||
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|
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| bool has_path_overlapped_target_lanes( | |||
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9385 +/- ##
==========================================
- Coverage 29.59% 29.58% -0.02%
==========================================
Files 1442 1448 +6
Lines 108512 108560 +48
Branches 41409 41412 +3
==========================================
Hits 32119 32119
- Misses 73269 73317 +48
Partials 3124 3124
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
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Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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…nge_module/src/utils/utils.cpp Co-authored-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
If there’s object that crosses predicted target lanes but it is not in target lane or target preceding lane, then the object will be treated as other lane object and will be ignored.
This PR aims to fix this.
Before PR
The following video shows the use case.
If the object is not in cyan lane (current) or blue (target preceding), then it will be considered as others object (purple cube).
cap-.2024-11-19-18-13-39.mp4
With PR
Object is now considered as target lane leading object (cyan cube)
cap-.2024-11-19-17-55-12.mp4
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.