feat(behavior_velocity_traffic_light): stop when the signal is unknown or timed out #1176
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…n or timed out Signed-off-by: Tomohito Ando <[email protected]>
TomohitoAndo
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TomohitoAndo
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Mar 8, 2024
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| updateTrafficSignal(); | ||
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| const bool is_unknown_signal = isUnknownSignal(looking_tl_state_); | ||
| const bool is_signal_timed_out = isTrafficSignalTimedOut(); |
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信号がunknownかどうかの判定とtimeoutしているかどうかの判定を前に持ってきた
これにより、信号がunknownだが残り時間から停止線を通過すると判断してしまうのを避ける
TomohitoAndo
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Mar 8, 2024
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| if ( | ||
| planner_param_.v2i_use_rest_time && rest_time_to_red_signal && | ||
| !isDataTimeout(rest_time_to_red_signal->stamp)) { | ||
| const double rest_time_allowed_to_go_ahead = | ||
| rest_time_to_red_signal->time_to_red - planner_param_.v2i_last_time_allowed_to_pass; | ||
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| const double ego_v = planner_data_->current_velocity->twist.linear.x; | ||
| if (ego_v >= planner_param_.v2i_velocity_threshold) { | ||
| if (ego_v * rest_time_allowed_to_go_ahead <= signed_arc_length_to_stop_point) { | ||
| *path = insertStopPose(input_path, stop_line_point_idx, stop_line_point, stop_reason); | ||
| } | ||
| } else { | ||
| if (rest_time_allowed_to_go_ahead < planner_param_.v2i_required_time_to_departure) { | ||
| *path = insertStopPose(input_path, stop_line_point_idx, stop_line_point, stop_reason); | ||
| } |
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流れを見やすくするため、ここの処理はcanPassStopLineBeforeRed関数にまとめた
TomohitoAndo
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satoshi-ota,
shmpwk and
tkimura4
as code owners
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Description
I fixed the issue that the ego vehicle doesn't stop even if the signal is UNKNOWN when using the V2I remaining time information.
Related links:
V2Iの残り時間情報を使う場合に、信号機がUNKNOWNでも停止線で停止しない問題を修正
※この問題はV2Iの残り時間情報を使うuniverse versionでのみ発生するため、beta/v0.19.1に変更を加えている
This PR should be merged after this PR
I will rebase after following PR has been merged.
-> DONE
Tests performed
Simple planning simulator.
Before
A stop line is not inserted even if the signal is UNKNOWN because the module only checks the remaining time to the RED.
before.mp4
After
A stop line is always inserted when the signal is unknown.
after.mp4
Effects on system behavior
Not applicable.
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