cherry-pick(lane change): path stability and correctness #1720
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…ceed target lane boundary when changing lanes (autowarefoundation#8750) * check if LC candidate path footprint exceeds target lane far bound Signed-off-by: mohammad alqudah <[email protected]> * add parameter to enable/disable check Signed-off-by: mohammad alqudah <[email protected]> * check only lane changing section of cadidate path Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * small refactoring Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
…efoundation#8369) * function to check for merging lane Signed-off-by: mohammad alqudah <[email protected]> * function to compute distance from last fit width center line point to lane end Signed-off-by: mohammad alqudah <[email protected]> * ensure lane width at LC stop point is larger than ego width Signed-off-by: mohammad alqudah <[email protected]> * refactor function isMergingLane Signed-off-by: mohammad alqudah <[email protected]> * improve implementation Signed-off-by: mohammad alqudah <[email protected]> * apply logic only when current ego foot print is within lane Signed-off-by: mohammad alqudah <[email protected]> * change implementation to use intersection points of buffered centerline and lane polygon Signed-off-by: mohammad alqudah <[email protected]> * minor refactoring Signed-off-by: mohammad alqudah <[email protected]> * overload function isEgoWithinOriginalLane to pass lane polygon directly Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
…foundation#8909) * 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]> * refactor checking data validity Signed-off-by: mohammad alqudah <[email protected]> * refactor sampling of prepare phase metrics and lane changing phase metrics Signed-off-by: mohammad alqudah <[email protected]> * add route handler function to get pose from 2d arc length Signed-off-by: mohammad alqudah <[email protected]> * refactor candidate path generation Signed-off-by: mohammad alqudah <[email protected]> * refactor candidate path safety check Signed-off-by: mohammad alqudah <[email protected]> * fix variable name Signed-off-by: mohammad alqudah <[email protected]> * Update planning/autoware_route_handler/src/route_handler.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * correct parameter name Signed-off-by: mohammad alqudah <[email protected]> * set prepare segment velocity after taking max path velocity value Signed-off-by: mohammad alqudah <[email protected]> * update LC README Signed-off-by: mohammad alqudah <[email protected]> * minor changes Signed-off-by: mohammad alqudah <[email protected]> * check phase length difference with previos valid candidate path Signed-off-by: mohammad alqudah <[email protected]> * change logger name Signed-off-by: mohammad alqudah <[email protected]> * change functions names to snake case Signed-off-by: mohammad alqudah <[email protected]> * use snake case for function names Signed-off-by: mohammad alqudah <[email protected]> * add colors to flow chart in README Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]>
…change-related variables. (autowarefoundation#8954) * add transient data Signed-off-by: Zulfaqar Azmi <[email protected]> * reverted max lc dist in calcCurrentMinMax Signed-off-by: Zulfaqar Azmi <[email protected]> * rename Signed-off-by: Zulfaqar Azmi <[email protected]> * minor refactoring Signed-off-by: Zulfaqar Azmi <[email protected]> * update doxygen comments Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…#8979) * RT1-7991 fix abort distance enough check Signed-off-by: Zulfaqar Azmi <[email protected]> * RT-7991 remove unused function Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…undation#8997) * add target lane length and ego arc length along current and target lanes to transient data Signed-off-by: mohammad alqudah <[email protected]> * refactor code using transient data Signed-off-by: mohammad alqudah <[email protected]> * refactor get_lane_change_paths function Signed-off-by: mohammad alqudah <[email protected]> * minor refactoring Signed-off-by: mohammad alqudah <[email protected]> * refactor util functions Signed-off-by: mohammad alqudah <[email protected]> * refactor getPrepareSegment function Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
…utowarefoundation#8999) * RT1-8004 replace hasEnoughLength Signed-off-by: Zulfaqar Azmi <[email protected]> * RT1-8004 Removed isNearEndOfCurrentLanes Signed-off-by: Zulfaqar Azmi <[email protected]> * RT1-8004 refactor sample longitudinal acc values Signed-off-by: Zulfaqar Azmi <[email protected]> * remove calc maximum lane change length Signed-off-by: Zulfaqar Azmi <[email protected]> * Revert "remove calc maximum lane change length" This reverts commit e9cc386. * Revert "RT1-8004 refactor sample longitudinal acc values" This reverts commit 775bcdb. * replace generateCenterLinePath Signed-off-by: Zulfaqar Azmi <[email protected]> * RT1-8004 simplify stuck detection Signed-off-by: Zulfaqar Azmi <[email protected]> * swap call to update filtered_objects and update transient data Signed-off-by: Zulfaqar Azmi <[email protected]> * RT1-8004 fix conflict Signed-off-by: Zulfaqar Azmi <[email protected]> * RT1-8004 Rename isVehicleStuck to is_ego_stuck() Signed-off-by: Zulfaqar Azmi <[email protected]> * RT1-8004 change calcPrepareDuration to snake case Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…arefoundation#9044) * refactor(lane_change): refactor get_lane_change_lanes function Signed-off-by: Zulfaqar Azmi <[email protected]> * Add doxygen comment for to_geom_msg_pose Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…utowarefoundation#9070) * RT0-33761 fix lc insert stop for current lanes object Signed-off-by: Zulfaqar Azmi <[email protected]> * fix wrong value used for comparison Signed-off-by: Zulfaqar Azmi <[email protected]> * ignore current lane object that is not on ego's path Signed-off-by: Zulfaqar Azmi <[email protected]> * remove print Signed-off-by: Zulfaqar Azmi <[email protected]> * update readme Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: mkquda <[email protected]> * revert is_within_vel_th removal Signed-off-by: Zulfaqar Azmi <[email protected]> * fix flowchart too wide Signed-off-by: Zulfaqar Azmi <[email protected]> * rename variable in has_blocking_target_object_for_stopping Signed-off-by: Zulfaqar Azmi <[email protected]> * Add docstring and rename function Signed-off-by: Zulfaqar Azmi <[email protected]> * change color Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: mkquda <[email protected]>
…on#9085) * refactor(lane_change): reducing clang-tidy warnings Signed-off-by: Zulfaqar Azmi <[email protected]> * change function name to snake case Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…warefoundation#9124) * RT0-33893 add checks from prev intersection Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> * fix shadow variable Signed-off-by: Zulfaqar Azmi <[email protected]> * fix logic Signed-off-by: Zulfaqar Azmi <[email protected]> * update readme Signed-off-by: Zulfaqar Azmi <[email protected]> * refactor get_ego_footprint Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]>
… threshold (autowarefoundation#9279) fix computation of maximum lane changing length threshold Signed-off-by: mohammad alqudah <[email protected]>
… (RT1-8427) (autowarefoundation#9268) * RT1-8427 extending lc path for multiple lc Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: mkquda <[email protected]>
…arefoundation#9288) Signed-off-by: Zulfaqar Azmi <[email protected]>
…vior (autowarefoundation#9372) * separate target lane leading objects based on behavior (RT1-8532) Signed-off-by: Zulfaqar Azmi <[email protected]> * fixed overlapped filtering and lanes debug marker Signed-off-by: Zulfaqar Azmi <[email protected]> * combine filteredObjects function Signed-off-by: Zulfaqar Azmi <[email protected]> * renaming functions and type Signed-off-by: Zulfaqar Azmi <[email protected]> * update some logic to check is stopped Signed-off-by: Zulfaqar Azmi <[email protected]> * rename expanded to stopped_outside_boundary Signed-off-by: Zulfaqar Azmi <[email protected]> * Include docstring Signed-off-by: Zulfaqar Azmi <[email protected]> * rename stopped_outside_boundary → stopped_at_bound Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> * spell-check Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: mkquda <[email protected]>
…70) (autowarefoundation#9090) * RT1-7970 testing base class Signed-off-by: Zulfaqar Azmi <[email protected]> * additional test Signed-off-by: Zulfaqar Azmi <[email protected]> * Added update lanes Signed-off-by: Zulfaqar Azmi <[email protected]> * check path generation Signed-off-by: Zulfaqar Azmi <[email protected]> * check is lane change required Signed-off-by: Zulfaqar Azmi <[email protected]> * fix PRs comment Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…utowarefoundation#9091) * fix calc_all_max_lc_lengths function Signed-off-by: mohammad alqudah <[email protected]> * remove unused functions Signed-off-by: mohammad alqudah <[email protected]> * remove limit on velocity in calc_all_max_lc_lengths function Signed-off-by: mohammad alqudah <[email protected]> * sample longitudinal acceleration separately for each prepater duration Signed-off-by: mohammad alqudah <[email protected]> * refactor prepare phase metrics calculation Signed-off-by: mohammad alqudah <[email protected]> * check for zero value prepare duration Signed-off-by: mohammad alqudah <[email protected]> * refactor calc_lon_acceleration_samples function Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
…er velocity (autowarefoundation#8961) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum Signed-off-by: mohammad alqudah <[email protected]> * move functions to relevant module Signed-off-by: mohammad alqudah <[email protected]> * suppress unused function cppcheck Signed-off-by: mohammad alqudah <[email protected]> * minor change Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]>
…ation#9403) * refactor lane change parameters Signed-off-by: mohammad alqudah <[email protected]> * update lane change param yaml Signed-off-by: mohammad alqudah <[email protected]> * update lane change README Signed-off-by: mohammad alqudah <[email protected]> * regroup some parameters Signed-off-by: mohammad alqudah <[email protected]> * run pre-commit prettier step 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/utils/parameters.hpp Co-authored-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <[email protected]> * apply pre-commit checks Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]>
…overloaded-virtual (autowarefoundation#9400) Signed-off-by: kobayu858 <[email protected]>
…error (autowarefoundation#9402) Signed-off-by: kobayu858 <[email protected]>
…unused-variable (autowarefoundation#9401) Signed-off-by: kobayu858 <[email protected]>
…n#9480) * implement function to check if lane change delay is required Signed-off-by: mohammad alqudah <[email protected]> * refactor function isParkedObject Signed-off-by: mohammad alqudah <[email protected]> * refactor delay lane change parameters Signed-off-by: mohammad alqudah <[email protected]> * update lc param yaml Signed-off-by: mohammad alqudah <[email protected]> * separate target lane leading objects based on behavior (RT1-8532) Signed-off-by: Zulfaqar Azmi <[email protected]> * fixed overlapped filtering and lanes debug marker Signed-off-by: Zulfaqar Azmi <[email protected]> * combine filteredObjects function Signed-off-by: Zulfaqar Azmi <[email protected]> * renaming functions and type Signed-off-by: Zulfaqar Azmi <[email protected]> * update some logic to check is stopped Signed-off-by: Zulfaqar Azmi <[email protected]> * rename expanded to stopped_outside_boundary Signed-off-by: Zulfaqar Azmi <[email protected]> * Include docstring Signed-off-by: Zulfaqar Azmi <[email protected]> * rename stopped_outside_boundary → stopped_at_bound Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> * spell-check Signed-off-by: Zulfaqar Azmi <[email protected]> * add docstring for function is_delay_lane_change Signed-off-by: mohammad alqudah <[email protected]> * remove unused functions Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * add delay parameters to README Signed-off-by: mohammad alqudah <[email protected]> * add documentation for delay lane change behavior Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * run pre-commit checks Signed-off-by: mohammad alqudah <[email protected]> * only check for delay lc if feature is enabled Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]>
autowarefoundation#9545) * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <[email protected]> * run pre-commit check Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix format Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]>
…vated (autowarefoundation#9185) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah <[email protected]> * reduce prepare duration according to signal activation time Signed-off-by: mohammad alqudah <[email protected]> * chore: update CODEOWNERS (autowarefoundation#9203) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <[email protected]> * refactor(time_utils): prefix package and namespace with autoware (autowarefoundation#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <[email protected]> * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(rtc_interface): add requested field (autowarefoundation#9202) * add requested feature Signed-off-by: Go Sakayori <[email protected]> * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (autowarefoundation#9199) Signed-off-by: Maxime CLEMENT <[email protected]> * fix(bpp): prevent accessing nullopt (autowarefoundation#9204) fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi <[email protected]> * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (autowarefoundation#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: grouping parameters Signed-off-by: Taekjin LEE <[email protected]> * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE <[email protected]> * refactor: separate util functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE <[email protected]> * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE <[email protected]> * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (autowarefoundation#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda <[email protected]> * Added Copyright Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed cast style Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda <[email protected]> * Added cspell:ignore Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed miss spell Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Renamed applyFilter Signed-off-by: Shintaro Sakoda <[email protected]> * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to pass by reference Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_test_utils): add traffic light msgs parser (autowarefoundation#9177) Signed-off-by: Mamoru Sobue <[email protected]> * modify implementation to compute and keep actual prepare duration in transient data Signed-off-by: mohammad alqudah <[email protected]> * if LC path is approved, set prepare duration in transient data from approved path prepare duration Signed-off-by: mohammad alqudah <[email protected]> * change default value of LC param min_prepare_duration Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * add function to set signal activation time, add docstring for function calc_actual_prepare_duration Signed-off-by: mohammad alqudah <[email protected]> * check for zero value max_acc to avoid division by zero Signed-off-by: mohammad alqudah <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix units Signed-off-by: mohammad alqudah <[email protected]> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <[email protected]> * run pre-commit check Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix format Signed-off-by: mohammad alqudah <[email protected]> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <[email protected]> * run pre-commit check Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix format Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: Esteve Fernandez <[email protected]> Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Shumpei Wakabayashi <[email protected]> Signed-off-by: Taekjin LEE <[email protected]> Signed-off-by: Shintaro Sakoda <[email protected]> Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: github-actions <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Go Sakayori <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: Taekjin LEE <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: tomoya.kimura <[email protected]>
…undation#9385) * RT1-8537 check object's predicted path when filtering Signed-off-by: Zulfaqar Azmi <[email protected]> * use ranges view in get_line_string_paths Signed-off-by: Zulfaqar Azmi <[email protected]> * check only vehicle type predicted path Signed-off-by: Zulfaqar Azmi <[email protected]> * Refactor naming Signed-off-by: Zulfaqar Azmi <[email protected]> * fix grammatical Signed-off-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Maxime CLEMENT <[email protected]> * precommit and grammar fix Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]>
…ion#9526) * fix(lane_change): remove overlapping preceding lanes Signed-off-by: Zulfaqar Azmi <[email protected]> * fix cpp check Signed-off-by: Zulfaqar Azmi <[email protected]> * start searching disconnected lanes directly Signed-off-by: Zulfaqar Azmi <[email protected]> * just remove starting from overlapped found Signed-off-by: Zulfaqar Azmi <[email protected]> * return non reversed lanes Signed-off-by: Zulfaqar Azmi <[email protected]> * fix precommit Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…efoundation#9625) Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
There are several correctness bug in the old lane change implementation, and it will cause issue whereby we will not be able to find valid path if ego start to decelerate towards terminal.
cap-.2024-12-20-19-29-15.mp4
Notice that in above's video, as ego decelerate and approaching terminal, there is no valid path generated.
With this cherry-pick PR, the correctness should be fix, and the behavior is more stable.
cap-.2024-12-20-19-14-35.mp4
As shown in the video, the valid path appears more, compared to original video. With additional tuning, the situation should improved.
Require merging: #1712
Required launcher: https://github.com/tier4/autoware_launch.x2/pull/889
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.