fix(behavior_path_planner): fix turn signal distance #1606
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Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Merged
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…urn_signal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Codecov Report
@@ Coverage Diff @@
## main #1606 +/- ##
==========================================
- Coverage 11.06% 10.65% -0.42%
==========================================
Files 1035 1103 +68
Lines 69343 72179 +2836
Branches 17982 18051 +69
==========================================
+ Hits 7675 7689 +14
- Misses 53227 55892 +2665
- Partials 8441 8598 +157
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boyali
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in boyali/autoware.universe
Sep 28, 2022
* fix(behavior_path_planner): fix turn signal distance Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix choice way of turn_signal from turn_signal_plan or intersection_turn_signal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * restrict distance_from_vehicle_front to positive value Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
boyali
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in boyali/autoware.universe
Oct 3, 2022
* fix(behavior_path_planner): fix turn signal distance Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix choice way of turn_signal from turn_signal_plan or intersection_turn_signal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * restrict distance_from_vehicle_front to positive value Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
boyali
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in boyali/autoware.universe
Oct 3, 2022
* fix(behavior_path_planner): fix turn signal distance Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix choice way of turn_signal from turn_signal_plan or intersection_turn_signal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * restrict distance_from_vehicle_front to positive value Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
yukke42
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Oct 14, 2022
…ion#1606) * fix(behavior_path_planner): fix turn signal distance Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix choice way of turn_signal from turn_signal_plan or intersection_turn_signal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * restrict distance_from_vehicle_front to positive value Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
boyali
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Oct 19, 2022
* fix(behavior_path_planner): fix turn signal distance Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix choice way of turn_signal from turn_signal_plan or intersection_turn_signal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * restrict distance_from_vehicle_front to positive value Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
saka1-s
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Nov 9, 2024
…efoundation#9142) (autowarefoundation#1606) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
saka1-s
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…efoundation#9142) (autowarefoundation#1606) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp
Description
Fix turn signal distance.
Before the change, the distance of intersection turn signal could be accidentally rewritten by lanes with
noneattribute.After the change, distance will be only updated by lane with
leftorrightattribute.When avoiding near the intersection, the intersection turn_signal with big minus distance is output as shown below, and the avoidance turn signal does not turn on correctly.
After the change, the intersection turn_signal with minus distance will not be output from
getIntersectionTurnSignalSometimes, the turn signal with NO_COMMAND is output from avoidance module, and it rewrites the intersection turn signal.
After the change, turn_signal with NO_COMMAND will be ignored.
I checked turn_signal value by inserting following code in turn_signal_decider.cpp
** Note **
https://user-images.githubusercontent.com/59680180/185071535-37d0131f-ce97-420e-8692-b7fcd31c0007.mp4
TODO:
Even after merging this PR, sometimes turn signal chattering still occurs.
This may be because the calculation method of distance to intersection is crude, and the distance to the lane changes depending on how lane_ids are embedded in PathWithLaneId.
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