feat(avoidance): improve avoidance stop & decel behavior #4141
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4141 +/- ##
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| @@ -3350,23 +3351,64 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const | |||
| { | |||
| const auto & data = avoidance_data_; | |||
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| // do nothing if there is no avoidance target. | |||
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| // calculate shift length for front object. | ||
| const auto & vehicle_width = planner_data_->parameters.vehicle_width; | ||
| const auto t = utils::getHighestProbLabel(object.object.classification); |
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| const auto t = utils::getHighestProbLabel(object.object.classification); | |
| const auto object_type = utils::getHighestProbLabel(object.object.classification); |
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Rename all same variable in 7dfd756.
| const double v_target = PathShifter::calcFeasibleVelocityFromJerk( | ||
| shift_length, parameters_->nominal_lateral_jerk, shift_longitudinal_distance); | ||
| const double v_original = shifted_path.path.points.at(i).point.longitudinal_velocity_mps; | ||
| const double v_insert = std::max(v_target - parameters_->buf_slow_down_speed, lower_speed); |
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@satoshi-ota
I have a simple question: why is this buffer parameter necessary? I'm curious as to in what situation we would need to tune the buf_slow_down_speed parameter rather than lowering the nominal_lateral_jerk.
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I added parameter description in b0ff9f6. Please see that 👍
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
… have to avoid Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…ndation#4141) * feat(path_shifter): add utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): shorten avoidance stop distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): insert slow down speed Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): don't set stoppable=true for objects that ego doesn't have to avoid Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename unreadable variable name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(avoidance): add new parameter description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…ndation#4141) (#651) * feat(path_shifter): add utils * feat(avoidance): shorten avoidance stop distance * feat(avoidance): insert slow down speed * fix(avoidance): don't set stoppable=true for objects that ego doesn't have to avoid * refactor(avoidance): rename unreadable variable name * docs(avoidance): add new parameter description --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…arefoundation#4141) Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
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Description
🤖 Generated by Copilot at 62cc273
This pull request enhances the avoidance behavior of the behavior path planner by adding new parameters, simplifying the code, and improving the logic for the speed and distance of the vehicle when avoiding obstacles. It modifies the
avoidance.param.yamlconfiguration file, theAvoidanceParametersstruct, theAvoidanceHelperandPathShifterclasses, and theavoidance_module.cppandmanager.cppsource files.Improvement
The avoidance module insert decel speed in prepare section so that the avoidance path always can be generated.
simplescreenrecorder-2023-07-03_09.18.42.mp4
Previous behavior
Since the avoidance module inserts only stop point, sometimes the ego speed exceeds feasible condition and the avoidance path can't be generated.
Please approve ⬇️ before this PR.
autowarefoundation/autoware_launch#429
Tests performed
Effects on system behavior
Not applicable.
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