fix(behavior_velocity_planner::intersection): only zero hold velocity #3327
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## main #3327 +/- ##
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Coverage 12.40% 12.41%
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Files 1368 1368
Lines 96124 96113 -11
Branches 27697 27690 -7
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Hits 11928 11928
+ Misses 71528 71517 -11
Partials 12668 12668
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…autowarefoundation#3327) only zero hold velocity Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…#3327) only zero hold velocity Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Description
In tier4's autoware.universe of version v0.6.0, stop line module did not work well due to the intersection modules' improper point insertion.
See test result
Related links
Internal JIRA link: https://tier4.atlassian.net/browse/RT1-480
Tests performed
Before this PR (left), the point added by the intersection module is copying the lane ids from prior point. After this PR, the lane ids is that of the nearest point.
Before this PR
the vehicle does not completely stop at the stop line.
before_pr-2023-04-10_14.05.23.mp4
After this PR
it completely stops and the stop line does not chatter.
after_pr-2023-04-10_14.02.18.mp4
scenario
No degradation: https://evaluation.tier4.jp/evaluation/reports/6425fbba-c6b7-513b-b1ff-1016fe346ef9?project_id=prd_jt
Notes for reviewers
This issue does not happen on latest universe thanks to the post processing, but this is still potential bug.
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