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Can't stop before blocking obstacle in parking #980

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3 tasks done
alanmengg opened this issue May 27, 2022 · 9 comments · Fixed by #1872
Closed
3 tasks done

Can't stop before blocking obstacle in parking #980

alanmengg opened this issue May 27, 2022 · 9 comments · Fixed by #1872
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@TakaHoribe @raminterpl @alanmengg
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component:planning Route planning, decision-making, and navigation. (auto-assigned) type:bug Software flaws or errors.

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@alanmengg
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Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

When simulating in parking lot , if an obstacle blocks the trajectory and there is no available trajectory to reach the goal, the car can't stop before the obstacle and passes through it.
Screenshot from 2022-05-27 10-58-18

Expected behavior

Vehicle should stop if there is no available path.

Actual behavior

Vehicle can't stop and passes through the obstacle.

Steps to reproduce

  1. Run the planning simulator with parking lot, set a goal and engage.
  2. Put a obstacle to block the ego vehicle.

Versions

ubuntu 20.04
galactic
universe:main

Possible causes

the published stop trajectory doesn't actually work because it's current pose, and control module can't stop the car with 0 distance.

Additional context

No response
@Sharrrrk Sharrrrk added type:bug Software flaws or errors. component:planning Route planning, decision-making, and navigation. (auto-assigned) labels May 27, 2022
@xmfcx
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xmfcx commented May 31, 2022

@alanmengg could you please share the resources and commands to reproduce this issue? Like maps used.

@alanmengg
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here is the lanelet map I used for the simulation
lishui_parking.zip

@mitsudome-r
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@TakaHoribe It would be nice if you can assign someone from TIER IV's planning team to take a look at this.

@shmpwk
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shmpwk commented Jun 30, 2022 •
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Related PR
#985

@xmfcx xmfcx changed the title Canot stop before blocking obstacle in parking Can't stop before blocking obstacle in parking Jul 19, 2022
@xmfcx xmfcx mentioned this issue Jul 19, 2022
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@raminterpl
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@alanmengg : Hi, can you pls share me map used for this parking scenario

@alanmengg
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alanmengg commented Aug 12, 2022 •
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@alanmengg : Hi, can you pls share me map used for this parking scenario

here is the map
map.zip

@raminterpl
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raminterpl commented Aug 23, 2022 •
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@alanmengg : I confirm the same behavior . Ego vehicle is not stopping if there is an obstacle in trajectory path in Parking.

Screenshot from 2022-08-23 16-24-05
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@shmpwk shmpwk reopened this Sep 2, 2022
@shmpwk
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shmpwk commented Sep 2, 2022 •
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@alanmengg
Looks like this issue is not completed yet?
If completed, it is helpful to give us the evidence.

@mitsudome-r
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@alanmengg friendly ping.

alanmengg added a commit to alanmengg/autoware.universe that referenced this issue Sep 15, 2022
@alanmengg
fix(freespace_planner): Can't stop before blocking obstacle in parking …
bf44a9d 
…autowarefoundation#980
@alanmengg alanmengg mentioned this issue Sep 15, 2022
Merged
4 tasks
alanmengg added a commit to alanmengg/autoware.universe that referenced this issue Sep 20, 2022
@alanmengg
fix(freespace_planner): Can't stop before blocking obstacle in parking …
22ba8a2 
…autowarefoundation#980

Signed-off-by: guiping meng <alan.meng@autocore.ai>
alanmengg added a commit to alanmengg/autoware.universe that referenced this issue Sep 21, 2022
@alanmengg
fix(freespace_planner): Can't stop before blocking obstacle in parking …
447d7a1 
…autowarefoundation#980

Signed-off-by: guiping meng <alan.meng@autocore.ai>
alanmengg added a commit to alanmengg/autoware.universe that referenced this issue Sep 21, 2022
@alanmengg
fix(freespace_planner): Can't stop before blocking obstacle in parking …
5c8b3c9 
…autowarefoundation#980

Signed-off-by: guiping meng <alan.meng@autocore.ai>
alanmengg added a commit to alanmengg/autoware.universe that referenced this issue Sep 24, 2022
@alanmengg
fix(freespace_planner): Can't stop before blocking obstacle in parking …
c63399a 
…autowarefoundation#980

Signed-off-by: guiping meng <alan.meng@autocore.ai>
shmpwk pushed a commit that referenced this issue Oct 3, 2022
@alanmengg @wep21
@pre-commit-ci @kosuke55
fix(freespace_planner): can't stop before blocking obstacle in parkin…
c7698fc 
…g#980 (#1872)

* fix(tier4_perception_rviz_plugin): modify build error in rolling (#791)

* fix(tier4_perception_rviz_plugin): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(tier4_perception_rviz_plugin): add target compile definitions

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix(had_map_utils): modify build error in rolling (#782)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix: modify build error of ndt related packages in rolling (#793)

* fix(ndt_pcl_modified): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(ndt): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(ndt_scan_matcher): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* ci(pre-commit): autofix

* remove unused find_package

* fix(ndt): remove memory.h

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix(freespace_planner):  Can't stop before blocking obstacle in parking #980

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* ci(pre-commit): autofix

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Revert "fix(had_map_utils): modify build error in rolling (#782)"

This reverts commit 7075fca.

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Revert "fix: modify build error of ndt related packages in rolling (#793)"

This reverts commit a235363.

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp

    Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
    Signed-off-by: guiping meng <alan.meng@autocore.ai>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* ci(pre-commit): autofix

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* revert some changes

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix mistakes

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Revert "fix(tier4_perception_rviz_plugin): modify build error in rolling (#791)"

This reverts commit eac57fb.

Signed-off-by: guiping meng <alan.meng@autocore.ai>

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Signed-off-by: guiping meng <alan.meng@autocore.ai>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
boyali referenced this issue in boyali/autoware.universe Oct 19, 2022
@alanmengg @wep21
@pre-commit-ci @kosuke55 @boyali
fix(freespace_planner): can't stop before blocking obstacle in parkin…
7c19adf 
…g#980 (autowarefoundation#1872)

* fix(tier4_perception_rviz_plugin): modify build error in rolling (tier4#791)

* fix(tier4_perception_rviz_plugin): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(tier4_perception_rviz_plugin): add target compile definitions

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix(had_map_utils): modify build error in rolling (tier4#782)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix: modify build error of ndt related packages in rolling (tier4#793)

* fix(ndt_pcl_modified): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(ndt): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* fix(ndt_scan_matcher): modify build error in rolling

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* ci(pre-commit): autofix

* remove unused find_package

* fix(ndt): remove memory.h

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix(freespace_planner):  Can't stop before blocking obstacle in parking tier4#980

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* ci(pre-commit): autofix

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Revert "fix(had_map_utils): modify build error in rolling (tier4#782)"

This reverts commit 7075fca.

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Revert "fix: modify build error of ndt related packages in rolling (tier4#793)"

This reverts commit a235363.

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp

    Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
    Signed-off-by: guiping meng <alan.meng@autocore.ai>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* revert some changes Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* ci(pre-commit): autofix

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* revert some changes

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* fix mistakes

Signed-off-by: guiping meng <alan.meng@autocore.ai>

* Revert "fix(tier4_perception_rviz_plugin): modify build error in rolling (tier4#791)"

This reverts commit eac57fb.

Signed-off-by: guiping meng <alan.meng@autocore.ai>

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
Signed-off-by: guiping meng <alan.meng@autocore.ai>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this issue Jan 17, 2025
@mitukou1109 @takayuki5168
@tier4-autoware-public-bot @soblin @badai-nguyen @satoshi-ota @danielsanchezaran @TakaHoribe
feat(obstacle_cruise_planner): support pointcloud-based obstacles (au…
d05e5b2 
…towarefoundation#980)

* feat: use obstacle_cruise_planner and change safe_distance_margin

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: set max_vel to 40km/h

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: enable surround_obstacle_checker

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: enable surround_obstacle_checker

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: enable dynamic_avoidance and disable outside_drivable_area_stop

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat: disable AEB and set the maximum velocity to 40km/h

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* enable intersection_occlusion detection

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* add parameters for obstacle_cruise_planner

* add parameters for pointcloud filtering

* chore(planning_launch): update motion module name (autowarefoundation#1014)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* move use_pointcloud to common parameter

* disable using pointcloud by default

* disable AEB diag check

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* remove use_pointcloud parameter

* feat(diagnostic_graph_utils): launch logging node for diagnostic_graph

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* reset to autowarefoundation:main

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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@TakaHoribe TakaHoribe

@raminterpl raminterpl

@alanmengg alanmengg

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@xmfcx @TakaHoribe @shmpwk @mitsudome-r @Sharrrrk @raminterpl @alanmengg