fix(lane_change): change stopping logic (RT0-33761) #1581
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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]>
mkquda
reviewed
Oct 11, 2024
Co-authored-by: mkquda <[email protected]>
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takayuki5168
approved these changes
Oct 11, 2024
saka1-s
added a commit
that referenced
this pull request
Oct 31, 2024
* feat(lane_change): cancel hysteresis (autowarefoundation#6288) * feat(lane_change): cancel hysteresis Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update documentation Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix the explanation of the hysteresis count Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Add parked parked RSS Signed-off-by: Zulfaqar Azmi <[email protected]> * support new perception_reproducer Signed-off-by: temkei.kem <[email protected]> * move files Signed-off-by: temkei.kem <[email protected]> * remove old files. Signed-off-by: temkei.kem <[email protected]> * fix pre-commit err Signed-off-by: temkei.kem <[email protected]> * style(pre-commit): autofix * feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (#1571) Refactor turn signal decider logic and add support for detecting turn signals in turn lanes Signed-off-by: Kyoichi Sugahara <[email protected]> * fix a small bug about perception reproducer * style(pre-commit): autofix * feat(out_of_lane): ignore lanelets beyond the last path point (#1554) * feat(out_of_lane): ignore lanelets beyond the last path point Signed-off-by: Maxime CLEMENT <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Maxime CLEMENT <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… (#1574) feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680) * add method to ignore target obstacles that cross ego cut lane * WIP add debug support * add params and finish debug marker * change lane to line * use autoware utils to get the cut line * simplify code wit calcOffsetPose * Update readme and eliminate unused code * update readme * eliminate unused function * readme * comments and readme * eliminate unused include * typo * rename param for consistency * change lane to line for consistency * rename for clarity, add brief * fix indentation * update description * lane ->line * lane -> line --------- Signed-off-by: Daniel Sanchez <[email protected]> * fix(lane_change): change stopping logic (RT0-33761) (#1581) * RT0-33761 fix lane change stopping logic Signed-off-by: Zulfaqar Azmi <[email protected]> * copied from awf main tested implementation Signed-off-by: Zulfaqar Azmi <[email protected]> * doxygen comment Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: mkquda <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: mkquda <[email protected]> * perf: PR 7237 autowarefoundation#7237 * perf RP8406 autowarefoundation#8406 * perf PR 8416 * perf PR 8427 * perf PR 8413 * tool PR 8456 * perf PR 8461 * perf PR 8388 * perf PR 8467 * perf PR 8471 * perf PR 8490 * perf PR 8751 * chore: fix format * perf PR 8657 * feat: improve lanelet search logic in getPredictedReferencePath() * sp develop remove non approved change (#1611) Revert "feat: improve lanelet search logic in getPredictedReferencePath()" This reverts commit 5de95b0. * feat PR 8811 * fix PR 8973 * feat: improve lanelet search logic in getPredictedReferencePath() --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> Signed-off-by: temkei.kem <[email protected]> Signed-off-by: Kyoichi Sugahara <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: temkei.kem <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: danielsanchezaran <[email protected]> Co-authored-by: mkquda <[email protected]> Co-authored-by: Shohei Sakai <[email protected]>
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Description
The lane change module evaluates the validity of the lane change start point. If the start point is determined to be invalid, the module responds by placing a stop point only at the terminal start position.
An invalid start point occurs when it is not located within the target neighboring lane.
However, as highlighted in the
RT0-33761, checking the start point's validity is impractical in certain scenarios. By the time the start point becomes valid, the expected stop point's position is already behind the ego vehicle. This results in the stop point being incorrectly placed behind the ego vehicle, leading to sudden and unintended deceleration.The proposed PR addresses this issue by improving how the distance is captured. It ensures that only objects located between the target lane start and the terminal start are detected and considered. This fix prevents the stop point from being inserted behind the ego vehicle, improving lane change behavior and eliminating sudden deceleration.
Before PR
cap-.2024-10-08-14-53-29.mp4
After PR
cap-.2024-10-08-13-07-15.mp4
Related links
autowarefoundation#9070
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.