feat(avoidance): check next & previous road shoulder linestring #3691
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satoshi-ota
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| const auto merge_two_line = [](const auto & a, const auto & b) { | ||
| lanelet::Points3d new_points; | ||
| for (const auto & p : a) { | ||
| new_points.emplace_back(lanelet::utils::getId(), p.basicPoint()); |
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memo:
lane id is not needed to calculate distance. so just push the dummy initial id.
Comment on lines
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| const auto lines = | ||
| rh->getFurthestLinestring(previous_lanelet.front(), get_right, get_left, get_opposite); | ||
| if (isOnRight(o)) { | ||
| target_line = merge_two_line(target_line, lines.back()); | ||
| } else { | ||
| target_line = merge_two_line(target_line, lines.front()); | ||
| } |
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memo:
getFurthestLinestring() push linestring in the order of right -> left. so the target object is on the right side,need to get left line which lines.back().
https://github.com/autowarefoundation/autoware.universe/blob/main/planning/route_handler/src/route_handler.cpp#L1166
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3691 +/- ##
==========================================
- Coverage 14.56% 14.55% -0.01%
==========================================
Files 1409 1409
Lines 99290 99313 +23
Branches 29347 29364 +17
==========================================
Hits 14458 14458
- Misses 69247 69270 +23
Partials 15585 15585
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…warefoundation#3691) * feat(route_hander): move public Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): check road next & previous road shoulder Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…warefoundation#3691) * feat(route_hander): move public Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): check road next & previous road shoulder Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…warefoundation#3691) * feat(route_hander): move public Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): check road next & previous road shoulder Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Description
Currently, avoidance module checks the distance between the object and closest lanelet's most left (or right) linestring.
However, the
distance2dfunction returns unexpected value for avoidance module in the following case.It is better to check not only closest lanelet's most left linestring but also next & previous linestring so that
distance2dfunction return exact distance between the object and road shoulder.Tests performed
Effects on system behavior
Improve avoidance path generation.
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