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feat(goal_planner): add extra front margin for collision check considering stopping distance #4674
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4674 +/- ##
==========================================
- Coverage 14.88% 14.81% -0.08%
==========================================
Files 1549 1549
Lines 106955 107528 +573
Branches 32790 33194 +404
==========================================
+ Hits 15925 15930 +5
- Misses 73636 74172 +536
- Partials 17394 17426 +32
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
…ering stopping distance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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LGTM
changing to 0.6m fixed the issue. |
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…ering stopping distance (autowarefoundation#4674) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move safety_check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename args and params Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * margin 0.6 and add comments Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…ering stopping distance (autowarefoundation#4674) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move safety_check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename args and params Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * margin 0.6 and add comments Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…ering stopping distance (autowarefoundation#4674) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move safety_check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename args and params Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * margin 0.6 and add comments Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
…ering stopping distance (autowarefoundation#4674) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move safety_check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename args and params Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * margin 0.6 and add comments Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…ering stopping distance (autowarefoundation#4674) * feat(goal_planner): add extra front margin for collision check considering stopping distance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move safety_check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename args and params Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * margin 0.6 and add comments Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> extra margin
Description
currently, the collision check margin is the same value in any direction.
In this PR, add extra front margin dynamically considering stopping distance.
🤖 Generated by Copilot at 84fbda8
This pull request enhances the goal planner module of the behavior path planner by using spline interpolation and extra stopping margin for pull over path planning. It adds a new parameter
object_recognition_collision_check_extra_max_stopping_margin
to control the extra margin and updates the collision check functions and the documentation accordingly. It also modifies the filesgoal_planner_module.cpp
,goal_planner.param.yaml
,goal_planner_parameters.hpp
,utils.hpp
,manager.cpp
, andutils.cpp
.Related links
autowarefoundation/autoware_launch#520
Tests performed
psim
goal_planner_front_extra_margin-2023-08-21_01.12.42.mp4
https://evaluation.tier4.jp/evaluation/reports/466af58f-2513-5a1c-9df3-efcffe9bae0e?project_id=prd_jt
Notes for reviewers
Interface changes
none
Effects on system behavior
none
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