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fix(detection_area): fix overline function #930

Merged
merged 3 commits into from
Oct 13, 2023
Merged

fix(detection_area): fix overline function #930

merged 3 commits into from
Oct 13, 2023

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h-ohta
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@h-ohta h-ohta commented Oct 12, 2023 •
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Description

#695 で探索範囲を停止線に紐づくlane内に限定したが、Overlineの関数でindexの探索範囲を制限できていなかったため、重複経路において正しく判定が出来ていなかったのを修正
以下を参考にした
https://github.com/autowarefoundation/autoware.universe/pull/405/files#diff-4a562700ada9c3821029f9b18eef63077074de7135ddaadcff94418a3aa15587R213-R244

Related links

https://tier4.atlassian.net/browse/AEAP-685

Tests performed

AEAP-685のような重複経路において、
　

  • Before: DA検知の停止線を越した場合に再度停止線が出てしまう
  • After: DA検知の停止線を越した場合に正しくoverline判定される

正しくoverline判定できているかどうか

https://github.com/tier4/autoware.universe/pull/930/files#r1357577572
このソース差分を適用し、実際に停止線を超えたときに出力される値が停止線の手前側を正として、停止線を過ぎた場合にマイナス値が増加していくことを確認した

output-2023-10-13_09.14.01.mp4

Notes for reviewers

Interface changes

Effects on system behavior

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@ManabuSasaki0811
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通過できることを確認
https://github.com/tier4/autoware.universe/assets/75649475/fe5e91ab-b1cb-47d2-9645-65a57c2c8efe

@h-ohta h-ohta enabled auto-merge (squash) October 13, 2023 02:03
@ManabuSasaki0811 ManabuSasaki0811 self-requested a review October 13, 2023 02:13
@h-ohta h-ohta merged commit ea62ea3 into beta/v0.3.17 Oct 13, 2023
11 of 12 checks passed
@h-ohta h-ohta deleted the fix/behavior_velocity_detection branch October 13, 2023 02:14
asa-naki pushed a commit that referenced this pull request Aug 14, 2024
@h-ohta @pre-commit-ci @asa-naki
fix(detection_area): fix overline function (#930)
c576b4e 
* fix(detection_area): fix overline function

* ci(pre-commit): autofix

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
This was referenced Aug 27, 2024
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asa-naki added a commit that referenced this pull request Aug 29, 2024
@asa-naki @TakaHoribe
@pre-commit-ci @sfukuta @h-ohta @ito-san @Shin-kyoto @Owen-Liuyuxuan @takeshi-iwanari @kminoda @esteve
feat: resource check (#1496)
a5b62af 
* feat(system_error_monitor): manual modules (#793)

* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)

* feat(tier4_planning/vehicle_plugin): make plugins size scalable

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* Revert "feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)"

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* feat(ad_service_state_monitor): change configs name (#876)

change configs name

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* feat(plannig_error_monitor): update error sharp angle threshold (#681)

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* fix: add error handling when path is invalid (#934)

* fix(behavior_path): delete duplicated

* add error handling

* fix: when path size is 1

* fix(detection_area): search collision index only in lanelet (#695)

* fix(detection_area): search collision index only in lanelet

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* fix(detection_area): fix overline function (#930)

* fix(detection_area): fix overline function

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---------

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* fix(route_handler): fix threshold for removing overlapping points (#1015)

* fix(route_handler): fix threshold for removing overlapping points

* fix

* fix(ntp_monitor): move chronyc command execution to a timer (backport autowarefoundation#4634) (#880)

fix(ntp_monitor): move chronyc command execution to a timer (autowarefoundation#4634)

* fix(ntp_monitor): move chronyc command execution to a timer



* add newly added parameter timeout to config

---------

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* feat(elevation_map_loader): add error handling for std::runtime_error (backport autowarefoundation#4187) (#652)

feat(elevation_map_loader): add error handling for std::runtime_error (autowarefoundation#4187)

* feat(elevation_map_loader): Add error handling for std::runtime_error



* feat(elevation_map_loader): add error message output



---------

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* fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768)

fix(system_monitor): extend command line to display (autowarefoundation#4553)

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* fix(system_monitor): high-memory process are not provided in MEM order (backport autowarefoundation#4654) (#769)

fix(system_monitor): high-memory process are not provided in MEM order (autowarefoundation#4654)

* fix(process_monitor): high-memory process are not being provided in %MEM order



* changed option from 'g' to 'n'



---------

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* fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995)

* perf(system_monitor): fix program command line reading (autowarefoundation#5191)

* Fix program command line reading

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* fix(system_monitor): output command line (autowarefoundation#5430)

* fix(system_monitor): output command line

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* feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) (#856)

* feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729)
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* feat(imu_corrector): add gyro bias log (#918)

add gyro_bias log

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* feat(system_error_monitor): add ignore_until_waiting_for_route module (#888)

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* feat(system_error_monitor): add ignore hartbeat timeout in initializing state (#972)

* add ignore hartbeat timeout in initializing state

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* fix typo

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@h-ohta @ManabuSasaki0811