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159 feature intersection behaviour testing #173

Merged
merged 49 commits into from
Jan 30, 2024
Merged

159 feature intersection behaviour testing #173

merged 49 commits into from
Jan 30, 2024

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JuliusMiller
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Description

With this PR the car can now stop at intersections and wait for a green light.
Furthermore corners can be detected and an appropriate speed is published to safely drive through corners.
Small adjustments to the lane change have been made to adjust speed while lane changing.

Fixes #159

Type of change

Please delete options that are not relevant.

  • New feature (non-breaking change which adds functionality)

Does this PR introduce a breaking change?

Most important changes

Motion_planning for curve_detection
Intersection for traffic_light detection

Checklist:

  • My code follows the style guidelines of this project
  • I have performed a self-review of my own code
  • I have commented my code, particularly in hard-to-understand areas
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
  • New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

MaxJa4 and others added 30 commits December 12, 2023 13:48
@MaxJa4
Add publisher
9ee9ad6
@MaxJa4
Publish segmented traffic lights
c426195
@MaxJa4
Implement TrafficLightNode
420bb04
@MaxJa4
Add TrafficLightState msg. WIP
3ecd862
@MaxJa4
Add publisher
64e438a
@MaxJa4
Publish segmented traffic lights
a6df99d
@MaxJa4
Implement TrafficLightNode
2a18766
@MaxJa4
Add TrafficLightState msg. WIP
b5a8a6f
@MaxJa4
Merge branch '110-implement-traffic-light-detection' of https://githu…
4b3d7fb 
…b.com/UNA-AuxMe/paf23 into 110-implement-traffic-light-detection
@MaxJa4
Added side view classification
acb4ffe
@MaxJa4
Finish traffic light node
810b20c
@MaxJa4
Add manual control launch file
19b10dd
@MaxJa4
Make linter happy
33ad2ad
@MaxJa4
Add documentation
15f7b83
@MaxJa4
Add missing traffic light detection model
be4ab6f
@MaxJa4
Fix color issues in rviz
2af4521
@MaxJa4
Limit simulator's max. RAM usage to prevent system crash
4be8614
@MaxJa4
Merge branch 'main' into 110-implement-traffic-light-detection
b7ed596
@JuliusMiller
Merge remote-tracking branch 'origin/110-implement-traffic-light-dete…
8f0a76c 
…ction' into 159-feature-intersection-behaviour-testing
@JuliusMiller
feat: integrate traffic_light detection
abd3821
@MaxJa4
feat: timeout traffic light status after 3s if no new info available
73acc16
@JuliusMiller
fix: smoother approach
85751ff
@MaxJa4
Support more intersection types. More robust detection.
fd4c32c
@MaxJa4
Update docs about filtering
9922dd3
@MaxJa4
Update code comment
e911442
@MaxJa4
Improve detection range
a3288db
@MaxJa4 @JuliusMiller
110 - Implement traffic light detection (#148)
bf6bed4 
* Add publisher

* Publish segmented traffic lights

* Implement TrafficLightNode

* Add TrafficLightState msg. WIP

* Add publisher

* Publish segmented traffic lights

* Implement TrafficLightNode

* Add TrafficLightState msg. WIP

* Added side view classification

* Finish traffic light node

* Add manual control launch file

* Make linter happy

* Add documentation

* Add missing traffic light detection model

* Fix color issues in rviz

* Limit simulator's max. RAM usage to prevent system crash

* fix: Linter fixes for other team's code
@JuliusMiller
docs: behavior detailed
dd54d22
@samuelkuehnel
feat: integrate trajectory planner in docker compose
bf697cb
@samuelkuehnel
feat: intallation of Frenet tool in docker file
2de1325
samuelkuehnel and others added 8 commits January 19, 2024 16:12
@samuelkuehnel
feat: integrate trajectory planner in docker compose
5c91085
@samuelkuehnel
feat: intallation of Frenet tool in docker file
314738d
@samuelkuehnel
Merge branch '165-feature-local-trajectory-planning-with-frenet-traje…
7adcda8 
…ctory-planner' of https://github.com/una-auxme/paf23 into 165-feature-local-trajectory-planning-with-frenet-trajectory-planner
@samuelkuehnel
fix: rivz and behavior tree
933a3ac
@JuliusMiller
fix: orientation for short route
736a22b
@JuliusMiller
Merge branch '159-feature-intersection-behaviour-testing' of https://…
85b6fb6 
…github.com/una-auxme/paf23 into 159-feature-intersection-behaviour-testing
@JuliusMiller
Merge remote-tracking branch 'origin/165-feature-local-trajectory-pla…
ec19c41 
…nning-with-frenet-trajectory-planner' into 159-feature-intersection-behaviour-testing
@JuliusMiller
fix: intersection, lane_change, curve_detection
98f4f9f
@JuliusMiller JuliusMiller self-assigned this Jan 25, 2024
@JuliusMiller JuliusMiller linked an issue Jan 25, 2024 that may be closed by this pull request
[Feature]: Intersection behaviour testing #159
Closed
@github-actions GitHub Actions
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Simulation results

Metric Value
Avg. driving score 0.027815
Avg. route completion 2.33
Avg. infraction penalty 0.211495
Collisions with pedestrians 0.0
Collisions with vehicles 28.646
Collisions with layout 9.549
Red lights infractions 0.0
Stop sign infractions 0.0
Off-road infractions 0.023
Route deviations 0.0
Route timeouts 3.183
Agent blocked 3.183
Yield emergency vehicles infractions 0.0
Scenario timeouts 6.366
Min speed infractions 0.0

samuelkuehnel
samuelkuehnel approved these changes Jan 29, 2024
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Approved!

samuelkuehnel
samuelkuehnel approved these changes Jan 29, 2024
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Approved!

@github-actions GitHub Actions
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Simulation results

Metric Value
Avg. driving score 0.124383
Avg. route completion 4.495
Avg. infraction penalty 0.02593
Collisions with pedestrians 0.0
Collisions with vehicles 20.943
Collisions with layout 5.984
Red lights infractions 0.0
Stop sign infractions 0.0
Off-road infractions 0.016
Route deviations 0.0
Route timeouts 1.496
Agent blocked 1.496
Yield emergency vehicles infractions 0.0
Scenario timeouts 1.496
Min speed infractions 0.0

@JuliusMiller JuliusMiller merged commit b178e25 into main Jan 30, 2024
3 checks passed
@JuliusMiller JuliusMiller deleted the 159-feature-intersection-behaviour-testing branch January 30, 2024 10:37
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Reviewers

@samuelkuehnel samuelkuehnel samuelkuehnel approved these changes

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@JuliusMiller JuliusMiller

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[Feature]: Intersection behaviour testing
3 participants
@JuliusMiller @samuelkuehnel @MaxJa4