fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit #2283

takayuki5168 · 2022-11-14T04:41:24Z

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

Description

Without this PR, v0 and a0 of optimization and external velocity limit has a slight difference though they should have consistency to calculate optimization well.

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codecov · 2022-11-14T05:36:33Z

Codecov Report

Base: 11.09% // Head: 11.06% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (4deae47) compared to base (89d137a).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2283      +/-   ##
==========================================
- Coverage   11.09%   11.06%   -0.03%     
==========================================
  Files        1208     1209       +1     
  Lines       86569    86792     +223     
  Branches    20835    20862      +27     
==========================================
  Hits         9607     9607              
- Misses      66804    67023     +219     
- Partials    10158    10162       +4

Flag	Coverage Δ		*Carryforward flag
differential	`3.57% <0.00%> (?)`
total	`11.07% <0.00%> (ø)`		Carriedforward from 89d137a

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

Impacted Files	Coverage Δ
...elocity_smoother/motion_velocity_smoother_node.hpp	`0.00% <0.00%> (ø)`
...ity_smoother/src/motion_velocity_smoother_node.cpp	`0.00% <0.00%> (ø)`
...n_velocity_smoother/src/smoother/smoother_base.cpp	`0.00% <0.00%> (ø)`

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…n and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 · 2022-11-14T06:03:01Z

planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp

+  // calculate prev closest point
+  if (!prev_output_.empty()) {
+    const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
+      prev_output_, current_pose_ptr_->pose, node_param_.ego_nearest_dist_threshold,
+      node_param_.ego_nearest_yaw_threshold);
+    const auto closest_point = trajectory_utils::calcInterpolatedTrajectoryPoint(
+      prev_output_, current_pose_ptr_->pose, current_seg_idx);
+    prev_closest_point_ = closest_point;
+  }
+


moved from here.

For consistency of v0/a0 between optimization and external velocity limit, calculate prev_closest_point_ first here.

takayuki5168 · 2022-11-14T06:05:30Z

.../motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp

+  struct ExternalVelocityLimit
+  {
+    double velocity{0.0};  // current external_velocity_limit
+    double dist{0.0};      // distance to set external velocity limit
+  };
+  ExternalVelocityLimit
+    external_velocity_limit_;  // velocity and distance constraint  of external velocity limit


create ExternalVelocityLimit struct instead of having velocity and dist respectively as a member variable .

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

takayuki5168 · 2022-11-14T06:08:22Z

I confirmed that external velocity limit works well with this PR during ACC by obstacle_cruise_planner.
Also checked that v0 and a0 of optimization and external velocity limit are the same.

rej55

LGTM

… and external velocity limit (autowarefoundation#2283) * fix(motion_velocity_smoother): inconsistent v0/a0 between optimization and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove debug print Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

… and external velocity limit (autowarefoundation#2283) * fix(motion_velocity_smoother): inconsistent v0/a0 between optimization and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove debug print Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp>

… and external velocity limit (autowarefoundation#2283) * fix(motion_velocity_smoother): inconsistent v0/a0 between optimization and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove debug print Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

… and external velocity limit (autowarefoundation#2283) * fix(motion_velocity_smoother): inconsistent v0/a0 between optimization and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove debug print Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…tion#2157) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> chore: remove motion_common dependency (autowarefoundation#2231) * remove motion_common from smoother Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove motion_common from control_performance_analysis and simple_planning_simualtor Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix include Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add include Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> refactor(motion_velocity_smoother): remove unused optional (autowarefoundation#1906) * remove unused optional Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * pre-commit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> add tunable deccel limit before curve fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit (autowarefoundation#2283) * fix(motion_velocity_smoother): inconsistent v0/a0 between optimization and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove debug print Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> fix(motion_velocity_smoother): fix taking long time to start in "l2_smoother" (autowarefoundation#2289) fix-l2-smoother Signed-off-by: jack.song <jack.song@autocore.ai> Signed-off-by: jack.song <jack.song@autocore.ai> chore(motion_velocity_smoother): add debug print for non-supported function (autowarefoundation#2298) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> fix(motion_velocity_smoother): add current_closest_point_from_prev_output (autowarefoundation#2399) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> increase distance before curve update delay compansation

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Nov 14, 2022

fix(motion_velocity_smoother): inconsistent v0/a0 between optimizatio…

4a88821

…n and external velocity limit Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 force-pushed the fix/motion-velocity-mismatch-v0-a0 branch from 9835d5b to 4a88821 Compare November 14, 2022 05:50

takayuki5168 commented Nov 14, 2022

View reviewed changes

remove debug print

4deae47

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

takayuki5168 marked this pull request as ready for review November 14, 2022 06:06

takayuki5168 requested a review from rej55 as a code owner November 14, 2022 06:06

takayuki5168 requested review from TakaHoribe and purewater0901 November 14, 2022 06:06

rej55 approved these changes Nov 14, 2022

View reviewed changes

takayuki5168 merged commit a3d17a2 into autowarefoundation:main Nov 14, 2022

takayuki5168 deleted the fix/motion-velocity-mismatch-v0-a0 branch November 14, 2022 10:38

tier4-autoware-public-bot bot mentioned this pull request Nov 15, 2022

chore: sync upstream tier4/autoware.universe#183

Merged

mkuri mentioned this pull request Nov 29, 2022

fix(motion_velocity_smoother): add current_closest_point_from_prev_output #2399

Merged

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fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit #2283

fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit #2283

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fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit #2283

fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit #2283

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takayuki5168 commented Nov 14, 2022 • edited Loading

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