fix(intersection): fixed stuck vehicle stop line and refactor stop line logic #2226
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Codecov ReportBase: 11.09% // Head: 11.84% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2226 +/- ##
==========================================
+ Coverage 11.09% 11.84% +0.74%
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Files 1212 1117 -95
Lines 86617 75273 -11344
Branches 20845 20770 -75
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- Hits 9607 8913 -694
+ Misses 66850 56513 -10337
+ Partials 10160 9847 -313
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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| @@ -60,6 +60,7 @@ The following process is performed for the attention targets to determine whethe | |||
| 2. calculate the passing area of the target object $A_{target}$ at $t_s$ - `collision_start_margin_time` ~ $t_e$ + `collision_end_margin_time` for each predicted path (\*1). | |||
| 3. check if $A_{ego}$ and $A_{target}$ regions are overlapped (has collision). | |||
| 4. when a collision is detected, the module inserts a stop velocity in front of the intersection. Note that there is a time margin for the stop release (\*2). | |||
| 5. If ego is over the `pass_judge_line`, collision checking is not processed to avoid sudden braking. However if ego velocity is lower than the threshold `keep_detection_vel_thr` then this module continues collision checking. | |||
|
@shmpwk @kosuke55 @taikitanaka3 Please approve this as code owners |
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…ne logic (autowarefoundation#2226) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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…ne logic (autowarefoundation#2226) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…ne logic (autowarefoundation#2226) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>
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…ne logic (autowarefoundation#2226) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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Description
The stop position for stuck vehicle is the point which is
stop_line_margin[m] behind the intersection point ofconflicting lanesandpathas in the attached image, but previously this stop position was the intersection point ofdetection lanesandpath, so ego was entering the intersection improperly.Related links
Jira link
Tests performed
Notes for reviewers
With retry=0, all related scenarios succeeded without degradation.
https://evaluation.tier4.jp/evaluation/reports/25940db8-a2ee-5760-af58-a303da3d7488?project_id=prd_jt
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