feat(lane_departure_checker): add braking distance offset to avoid unwanted move after stop #2712
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…wanted move after stop Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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thanks, you can fix pre-commit.ci by |
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control/lane_departure_checker/config/lane_departure_checker.param.yaml
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control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
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Signed-off-by: Berkay Karaman <brkay54@gmail.com>
Codecov ReportBase: 11.57% // Head: 11.55% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2712 +/- ##
==========================================
- Coverage 11.57% 11.55% -0.02%
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Files 1302 1302
Lines 90790 90951 +161
Branches 23970 24076 +106
==========================================
+ Hits 10510 10511 +1
- Misses 69285 69429 +144
- Partials 10995 11011 +16
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…wanted move after stop (autowarefoundation#2712) Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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…wanted move after stop (autowarefoundation#2712) Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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…wanted move after stop (autowarefoundation#2712) Signed-off-by: Berkay Karaman <brkay54@gmail.com> Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
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…wanted move after stop (autowarefoundation#2712) Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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Signed-off-by: Berkay Karaman brkay54@gmail.com
Description
In current implementation, braking distance is 0.0 if the velocity is 0.0. It causes unwanted motion, for example, if vehicle's footprint will be out of the lane, lane_departure_checker make the vehicle stop. After vehicle slow down, braking distance is getting smaller and footprint won't be out of the lane and vehicle starts to moving. It continues like stop, move, stop, move and so on.
To avoid this problem, I want to suggest that adding offset to braking distance as optional.
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