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fix(lane_change): current lane obj treated as target lane obj #5214

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zulfaqar-azmi-t4
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Oct 3, 2023

Description

🤖 Generated by Copilot at aef3324

Fix a bug in normal.cpp that could cause incorrect lane change behavior. Add a check to see if the target backward lane is in the current lanes of the ego vehicle.

image1

Since target object filter is prioritized, the object in current lane may be classified as target lane object, and we wouldn't want this behavior.

Before PR

Current lanes object is misclassified as target lane object (blue cube == target lane object)

Screenshot from 2023-10-03 22-05-26

After PR

Current lanes object is treated correctly.

Screenshot from 2023-10-03 22-20-41

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 3, 2023
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 5, 2023
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codecov bot commented Oct 5, 2023

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (68544c7) 14.80% compared to head (aef3324) 14.76%.
Report is 13 commits behind head on main.

Additional details and impacted files
@@            Coverage Diff             @@
##             main    #5214      +/-   ##
==========================================
- Coverage   14.80%   14.76%   -0.05%     
==========================================
  Files        1648     1648              
  Lines      113860   115471    +1611     
  Branches    35049    36179    +1130     
==========================================
+ Hits        16861    17050     +189     
- Misses      78081    79349    +1268     
- Partials    18918    19072     +154     
Flag Coverage Δ *Carryforward flag
differential 12.50% <0.00%> (?)
total 14.80% <ø> (ø) Carriedforward from 68544c7

*This pull request uses carry forward flags. Click here to find out more.

Files Coverage Δ
...th_planner/src/scene_module/lane_change/normal.cpp 4.47% <0.00%> (-0.02%) ⬇️

... and 9 files with indirect coverage changes

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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 enabled auto-merge (squash) October 5, 2023 05:40
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@kosuke55 kosuke55 left a comment

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LGTM!

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit dd275bf into autowarefoundation:main Oct 5, 2023
21 of 24 checks passed
zulfaqar-azmi-t4 added a commit to tier4/autoware.universe that referenced this pull request Oct 5, 2023
…refoundation#5214)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
zulfaqar-azmi-t4 added a commit to tier4/autoware.universe that referenced this pull request Oct 5, 2023
…refoundation#5214)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the fix-lc-obj-filtering-current branch October 5, 2023 07:06
zulfaqar-azmi-t4 added a commit to tier4/autoware.universe that referenced this pull request Oct 6, 2023
…refoundation#5214)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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