chore(lane change): cherry-pick bug fixes #1712
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…ndation#8489) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
…on to change lanes (autowarefoundation#8571) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: mohammad alqudah <[email protected]> * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <[email protected]> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * modify LC turn signal logic Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp Co-authored-by: Zulfaqar Azmi <[email protected]> * minor change Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…utowarefoundation#8648) * refactor lane change utility funcions Signed-off-by: mohammad alqudah <[email protected]> * LC utility function to get distance to next regulatory element Signed-off-by: mohammad alqudah <[email protected]> * don't activate LC module when close to regulatory element Signed-off-by: mohammad alqudah <[email protected]> * modify threshold distance calculation Signed-off-by: mohammad alqudah <[email protected]> * move regulatory element check to canTransitFailureState() function Signed-off-by: mohammad alqudah <[email protected]> * always run LC module if approaching terminal point Signed-off-by: mohammad alqudah <[email protected]> * use max possible LC length as threshold Signed-off-by: mohammad alqudah <[email protected]> * update LC readme Signed-off-by: mohammad alqudah <[email protected]> * refactor implementation Signed-off-by: mohammad alqudah <[email protected]> * update readme Signed-off-by: mohammad alqudah <[email protected]> * check distance to reg element for candidate path only if not near terminal start Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
…erlaps (autowarefoundation#9289) * fix(behavior_path_planner_common): use boost intersects instead of overlaps Signed-off-by: kosuke55 <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Go Sakayori <[email protected]>
…9338) * fix(bpp): update collided polygon pose only once Signed-off-by: Zulfaqar Azmi <[email protected]> * add expected pose Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…ion (autowarefoundation#8383) unify stuck detection in getLaneChangePaths Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
…thresh (autowarefoundation#8532) change parameter name for more expressive name Signed-off-by: Zulfaqar Azmi <[email protected]>
…utowarefoundation#7943) * feat(lane_change): consider deceleration in safety check for cancel Signed-off-by: Fumiya Watanabe <[email protected]> * docs(lane_change): fix document Signed-off-by: Fumiya Watanabe <[email protected]> * fix conflicts and refactor Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix conflict Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…owarefoundation#8549) * RT1-5067 fix delay logic that caused timing to be late Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * remove autoware namespace Co-authored-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]>
…riables (autowarefoundation#8889) * simplify ExtendedPredictedObject and add new member variables Signed-off-by: Zulfaqar Azmi <[email protected]> * replace self polygon to initial polygon Signed-off-by: Zulfaqar Azmi <[email protected]> * comment Signed-off-by: Zulfaqar Azmi <[email protected]> * add comments to dist of ego Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…efoundation#9322) * refactor LC extended object collision check code Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]>
…arefoundation#9341) * fix(lane_change): cap ego's predicted path velocity (RT1-8505) Signed-off-by: Zulfaqar Azmi <[email protected]> * properly cap based on 0.0 instead of min lc vel Signed-off-by: Zulfaqar Azmi <[email protected]> * fix build error Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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zulfaqar-azmi-t4
requested review from
rej55,
go-sakayori,
kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
TakaHoribe,
takayuki5168,
TomohitoAndo and
tkimura4
as code owners
TomohitoAndo
approved these changes
Dec 21, 2024
TomohitoAndo
changed the title
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Description
Bug 1: Visualization bug (Severity: None)
Important for debugging safety check result.
Bug 2: Safety check (Severity: High)
Bug 3: Able to LC earlier for delay lane change case (Severity: Low)
Bug 4: Turn signal activation timing (Severity: Mid)
Signal the intention to change lane as soon as possible
Necessary to reduce cherry-pick conflict
Related links
Launcher: https://github.com/tier4/autoware_launch.x2/pull/888
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.