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feat: lane_departure_checker with curbstones #687

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takayuki5168
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@takayuki5168 takayuki5168 commented Nov 14, 2023

Description

The current lane_departure_checker unnecessarily publishes the diag even when it is not dangerous.

A better logic for the real use-case was implemented here checking if the ego's predicted trajectory will collide with the curbstones.
autowarefoundation/autoware.universe#4607
This PR enables this logic and disables the previous logic.

Tests performed

psim

Effects on system behavior

What lane_departure_checker detects will be whether the ego's predicted trajectory will collide with the curbstones.

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@takayuki5168 takayuki5168 marked this pull request as ready for review November 14, 2023 12:48
@takayuki5168
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@kyoichi-sugahara Could you approve the PR? Seems okay to merge by TIER IV architects.

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@kyoichi-sugahara kyoichi-sugahara left a comment

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LGTM!

@takayuki5168 takayuki5168 merged commit 31961eb into autowarefoundation:main Nov 16, 2023
11 of 12 checks passed
@takayuki5168 takayuki5168 deleted the feat/lane-departure-checker-with-curbstone branch November 16, 2023 14:07
takayuki5168 referenced this pull request in tier4/autoware_launch Nov 26, 2023
…ct_tracker for far away perecption (#658) (#687)

update and add parameter about radar_object_tracker for far away detection

Signed-off-by: yoshiri <[email protected]>
sykwer pushed a commit to sykwer/autoware_launch that referenced this pull request Jan 3, 2024
mitukou1109 pushed a commit to mitukou1109/autoware_launch that referenced this pull request Nov 29, 2024
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2 participants