fix(behavior_path_planner): check lane departure and relative angle for lane change #2379

kosuke55 · 2022-11-25T13:35:25Z

Signed-off-by: kosuke55 kosuke.tnp@gmail.com

Description

Lane change module sometimes generates an invalid path.

2022-11-22-19-25-50.mp4

The root cause has not been determined, but in this PR such kind of path is filtered by checking lane_departure and relative_angle.

Tests performed

psim

Intentionally generate invalid path(out of lane)
- APPROVE is canceled and returns to WaitingApprove

lane_change_safe_path_check-2022-11-25_22.03.55.mp4

When the path is valid, we can change the lane as usual.

lane_change_safe_path_check-2022-11-25_22.10.03.mp4

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…or lane change Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kosuke55 · 2022-11-25T13:38:21Z

planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp

@@ -73,7 +80,7 @@ void LaneChangeModule::onEntry()
 void LaneChangeModule::onExit()
 {
  resetParameters();
-  current_state_ = BT::NodeStatus::IDLE;
+  current_state_ = BT::NodeStatus::SUCCESS;


https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/include/behaviortree_cpp/basic_types.h#L35

/// IMPORTANT: Your custom nodes should NEVER return IDLE.

I am not familiar with it much, but it may be better to change to SUCCESS also for other modules with another PR.

fixed in #2391

codecov · 2022-11-25T14:07:57Z

Codecov Report

Base: 10.48% // Head: 10.45% // Decreases project coverage by -0.03% ⚠️

Coverage data is based on head (9ec3d19) compared to base (8d33e62).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2379      +/-   ##
==========================================
- Coverage   10.48%   10.45%   -0.04%     
==========================================
  Files        1248     1248              
  Lines       91218    91524     +306     
  Branches    21012    21189     +177     
==========================================
  Hits         9566     9566              
- Misses      71466    71761     +295     
- Partials    10186    10197      +11

Flag	Coverage Δ		*Carryforward flag
differential	`3.18% <0.00%> (?)`
total	`10.46% <0.00%> (ø)`		Carriedforward from 8d33e62

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

Impacted Files	Coverage Δ
...er/scene_module/lane_change/lane_change_module.hpp	`0.00% <ø> (ø)`
...lanner/include/behavior_path_planner/utilities.hpp	`26.31% <ø> (ø)`
...rc/scene_module/lane_change/lane_change_module.cpp	`0.00% <0.00%> (ø)`
planning/behavior_path_planner/src/utilities.cpp	`3.36% <0.00%> (-0.37%)`	⬇️
...th_planner/scene_module/scene_module_interface.hpp	`0.00% <0.00%> (ø)`

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rej55

LGTM

zulfaqar-azmi-t4

seems like everything is okay. Thank you very much @kosuke55
LGTM!

…or lane change (autowarefoundation#2379) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…or lane change (autowarefoundation#2379) (#192) * fix(behavior_path_planner): check lane departure and relative angle for lane change (autowarefoundation#2379) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: extend lanes for lane_departure_checker Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: extend lanes Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: expand lane Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

… angle for lane change (autowarefoundation#2379) (#192)" This reverts commit 52fd315.

…e for lane change (autowarefoundation#2379) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…e for lane change (autowarefoundation#2379) (#196) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…or lane change (autowarefoundation#2379) (#192) * fix(behavior_path_planner): check lane departure and relative angle for lane change (autowarefoundation#2379) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: extend lanes for lane_departure_checker Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: extend lanes Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: expand lane Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

…or lane change (#202) * fix(behavior_path_planner): check lane departure and relative angle for lane change (autowarefoundation#2379) (#192) * fix(behavior_path_planner): check lane departure and relative angle for lane change (autowarefoundation#2379) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: extend lanes for lane_departure_checker Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: extend lanes Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: expand lane Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * fix(behavior_path_planner): fix lane change path validation (autowarefoundation#2421) * fix(behavior_path_planner): clip_path_for_goal Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): clip path for validation Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): use path point only to check lane departure Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): remove unnecessary change Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

…or lane change (autowarefoundation#2379) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp>

fix(behavior_path_planner): check lane departure and relative angle f…

9ec3d19

…or lane change Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kosuke55 requested review from rej55, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, tkimura4, purewater0901, zulfaqar-azmi-t4 and a team as code owners November 25, 2022 13:35

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Nov 25, 2022

kosuke55 commented Nov 25, 2022

View reviewed changes

rej55 approved these changes Nov 28, 2022

View reviewed changes

zulfaqar-azmi-t4 approved these changes Nov 28, 2022

View reviewed changes

kosuke55 merged commit 49f9437 into autowarefoundation:main Nov 28, 2022

kosuke55 deleted the fix/lane_change_safe_path branch November 28, 2022 12:10

tier4-autoware-public-bot bot mentioned this pull request Nov 29, 2022

chore: sync upstream tier4/autoware.universe#190

Merged

tkimura4 mentioned this pull request Nov 29, 2022

fix(behavior_path_planner): check lane departure and relative angle for lane change (#2379) tier4/autoware.universe#192

Merged

4 tasks

tkimura4 added a commit to tier4/autoware.universe that referenced this pull request Dec 1, 2022

Revert "fix(behavior_path_planner): check lane departure and relative…

5a3753e

… angle for lane change (autowarefoundation#2379) (#192)" This reverts commit 52fd315.

tkimura4 added a commit to tier4/autoware.universe that referenced this pull request Dec 1, 2022

revert(behavior_path_planner): check lane departure and relative angl…

2289fe8

…e for lane change (autowarefoundation#2379) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

tkimura4 mentioned this pull request Dec 8, 2022

fix(behavior_path_planner): check lane departure and relative angle for lane change tier4/autoware.universe#202

Merged

4 tasks

tkimura4 mentioned this pull request Jan 17, 2023

fix(lane_change): fix lane change force approval by rtc #2672

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fix(behavior_path_planner): check lane departure and relative angle for lane change #2379

fix(behavior_path_planner): check lane departure and relative angle for lane change #2379

kosuke55 commented Nov 25, 2022 •

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fix(behavior_path_planner): check lane departure and relative angle for lane change #2379

fix(behavior_path_planner): check lane departure and relative angle for lane change #2379

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kosuke55 commented Nov 25, 2022 • edited Loading

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