feat(obstacle_stop_planner): prevent from obstacle hunting #1458

satoshi-ota · 2022-07-28T09:12:08Z

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

Description

In this PR, I fixed stop (slowdown) judge logic in order to prevent from judgement hunting.

Add hunting_threshold (default: 0.5[s])
Even if the obstacle disappears, the stop judgment continues for hunting_threshold seconds.

test perform (hunting_threshold = 2.0 [s])

simplescreenrecorder-2022-07-29_07.36.01.mp4

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codecov · 2022-07-28T09:23:31Z

Codecov Report

Merging #1458 (759aa41) into main (3f90850) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1458      +/-   ##
==========================================
- Coverage   10.30%   10.25%   -0.05%     
==========================================
  Files        1128     1128              
  Lines       72707    73047     +340     
  Branches    17929    17929              
==========================================
  Hits         7489     7489              
- Misses      57449    57789     +340     
  Partials     7769     7769

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`10.30% <0.00%> (ø)`		Carriedforward from 3f90850

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...planner/include/scene_module/stop_line/manager.hpp	`0.00% <ø> (ø)`
...ocity_planner/src/scene_module/stop_line/debug.cpp	`0.00% <0.00%> (ø)`
...ity_planner/src/scene_module/stop_line/manager.cpp	`0.00% <0.00%> (ø)`
...ocity_planner/src/scene_module/stop_line/scene.cpp	`0.00% <0.00%> (ø)`
planning/obstacle_stop_planner/src/node.cpp	`0.00% <0.00%> (ø)`
...lanning/obstacle_stop_planner/src/debug_marker.cpp	`0.00% <0.00%> (ø)`
...tacle_stop_planner/src/adaptive_cruise_control.cpp	`0.00% <0.00%> (ø)`
... and 2 more

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

satoshi-ota · 2022-08-03T04:27:08Z

tier4/autoware_launch#427

TakaHoribe

LGTM

h-ohta · 2022-08-05T04:34:09Z

#1116

* feat(obstacle_stop_planner): prevent from obstacle hunting Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(obstacle_stop_planner): add common parameter description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix bug Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…oundation#1458) * feat(obstacle_stop_planner): prevent from obstacle hunting Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(obstacle_stop_planner): add common parameter description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix bug Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(obstacle_stop_planner): prevent from obstacle hunting Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(obstacle_stop_planner): add common parameter description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix bug Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>

* Adapted from PR #1458 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR #1627 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * fix parameter name Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * Adapted from PR autowarefoundation#2647 Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> * ci(pre-commit): autofix * fix build error * ci(pre-commit): autofix * remove comment line * remove logic * Delete parameters other than those added this time * ci(pre-commit): autofix * add stop vehicle check * ci(pre-commit): autofix * fix stop velocity threshold * fix engage obstacle clear and stop threshold * ci(pre-commit): autofix --------- Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…cherry-pick-avoidance perf(static_obstacle_avoidance): improve logic to reduce computational cost (autowarefoundation#8432)

satoshi-ota marked this pull request as ready for review July 29, 2022 00:44

satoshi-ota requested review from TakaHoribe and h-ohta July 29, 2022 00:45

satoshi-ota added 3 commits August 3, 2022 13:21

feat(obstacle_stop_planner): prevent from obstacle hunting

e294aa8

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

docs(obstacle_stop_planner): add common parameter description

35b0081

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

fix(obstacle_stop_planner): fix bug

759aa41

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

satoshi-ota force-pushed the feat/prevent-stop-judge-hunting branch from 94cbe4e to 759aa41 Compare August 3, 2022 04:22

satoshi-ota mentioned this pull request Aug 3, 2022

feat(planning_launch): add parameter for hunting prevention tier4/autoware_launch-old#427

Merged

8 tasks

TakaHoribe approved these changes Aug 3, 2022

View reviewed changes

satoshi-ota enabled auto-merge (squash) August 3, 2022 05:26

satoshi-ota merged commit 3f25602 into autowarefoundation:main Aug 3, 2022

satoshi-ota deleted the feat/prevent-stop-judge-hunting branch August 3, 2022 05:40

tier4-autoware-public-bot bot mentioned this pull request Aug 4, 2022

chore: sync upstream tier4/autoware.universe#88

Merged

kosuke55 mentioned this pull request Aug 18, 2022

fix(obstacle_stop_planner): fix hunting collision point #1627

Merged

7 tasks

h-ohta mentioned this pull request Aug 31, 2022

Obstacle stop planner is chattering in obstacle detection by pointcloud and its marker continue visualizing #1116

Closed

3 tasks

1222-takeshi mentioned this pull request Oct 14, 2022

feat(pull_over): update pull over tier4/autoware.universe#150

Closed

4 tasks

sfukuta referenced this pull request in tier4/autoware.universe Aug 2, 2023

Adapted from PR #1458

88f786c

Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>

sfukuta mentioned this pull request Aug 18, 2023

feat(obstacle_stop): upd obstacle hunting tier4/autoware.universe#733

Closed

7 tasks

sfukuta mentioned this pull request Dec 12, 2023

feat(obstacle_stop): upd obstacle hunting tier4/autoware.universe#1068

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7 tasks

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feat(obstacle_stop_planner): prevent from obstacle hunting #1458

feat(obstacle_stop_planner): prevent from obstacle hunting #1458

satoshi-ota commented Jul 28, 2022 •

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h-ohta commented Aug 5, 2022

feat(obstacle_stop_planner): prevent from obstacle hunting #1458

feat(obstacle_stop_planner): prevent from obstacle hunting #1458

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satoshi-ota commented Jul 28, 2022 • edited Loading

Description

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satoshi-ota commented Jul 28, 2022 •

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