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fix(traffic_light): stop if the traffic light signal timed out #5819

Merged
merged 2 commits into from
Dec 11, 2023
Merged

fix(traffic_light): stop if the traffic light signal timed out #5819

merged 2 commits into from
Dec 11, 2023

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rej55
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@rej55 rej55 commented Dec 8, 2023 •
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Description

Before this change, traffic light module plans PASS if the traffic light signal is timed out.
In this PR, I changed the behavior of traffic light module as following:

  1. If a corresponding traffic light signal have never been found, it treats as a signal to pass.
  2. If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

Furthermore, in this PR, I add the parameter to prevent chattering.

Please merge following PR before merge this PR
autowarefoundation/autoware_launch#727

Related links

Tests performed

TIER IV INTERNAL TEST

Before:

Screencast.from.2023.12.08.17.08.51.webm

After:

Screencast.from.2023.12.08.17.03.53.webm

Notes for reviewers

Interface changes

stop_time_hysteresis is added as a parameter.

Effects on system behavior

The vehicle stops if the traffic light signal is timed out.

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In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

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After all checkboxes are checked, anyone who has write access can merge the PR.

@rej55
fix(traffic_light): stop if the traffic light signal timed out
a82db7f 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
@rej55 rej55 requested a review from TomohitoAndo December 8, 2023 08:09
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Dec 8, 2023
@rej55 rej55 mentioned this pull request Dec 8, 2023
Merged
7 tasks
@rej55 rej55 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 8, 2023
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codecov bot commented Dec 8, 2023 •
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Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (765a596) 15.32% compared to head (1ecf525) 17.89%.
Report is 190 commits behind head on main.

Additional details and impacted files 
@@             Coverage Diff             @@
##             main    #5819       +/-   ##
===========================================
+ Coverage   15.32%   17.89%    +2.56%     
===========================================
  Files        1721        8     -1713     
  Lines      118559      598   -117961     
  Branches    37995      332    -37663     
===========================================
- Hits        18169      107    -18062     
+ Misses      79657      319    -79338     
+ Partials    20733      172    -20561
Flag Coverage Δ
differential 17.89% <ø> (?)
total ?

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

@rej55
fix(traffic_light): fix README format
1ecf525 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
@rej55 rej55 enabled auto-merge (squash) December 11, 2023 01:50
@rej55 rej55 merged commit 5d6cfef into autowarefoundation:main Dec 11, 2023
23 of 25 checks passed
@rej55 rej55 deleted the fix/traffic_light_time_out_behavior branch December 11, 2023 03:06
danielsanchezaran pushed a commit to tier4/autoware.universe that referenced this pull request Dec 15, 2023
@rej55 @danielsanchezaran
fix(traffic_light): stop if the traffic light signal timed out (autow…
d5236ab 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Dec 19, 2023
@rej55 @karishma1911
fix(traffic_light): stop if the traffic light signal timed out (autow…
daf67d5 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: karishma <karishma@interpl.ai>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Dec 19, 2023
@rej55 @karishma1911
fix(traffic_light): stop if the traffic light signal timed out (autow…
a683c8f 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: karishma <karishma@interpl.ai>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Dec 20, 2023
Merged
TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this pull request Jan 31, 2024
@rej55 @TomohitoAndo
fix(traffic_light): stop if the traffic light signal timed out (autow…
8780a72 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Feb 1, 2024
@rej55 @TomohitoAndo
fix(traffic_light): stop if the traffic light signal timed out (autow…
fb973cf 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
@tkimura4 tkimura4 mentioned this pull request Feb 1, 2024
Merged
4 tasks
TomohitoAndo added a commit to tier4/autoware.universe that referenced this pull request Feb 1, 2024
@TomohitoAndo @rej55
fix(traffic_light): stop if the traffic light signal timed out (autow…
74f4645 
…arefoundation#5819) (#1124)

* fix(traffic_light): stop if the traffic light signal timed out



* fix(traffic_light): fix README format



---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
saka1-s pushed a commit to saka1-s/autoware.universe that referenced this pull request Feb 2, 2024
@TomohitoAndo @rej55 @saka1-s
fix(traffic_light): stop if the traffic light signal timed out (autow…
756a818 
…arefoundation#5819) (autowarefoundation#1124)

* fix(traffic_light): stop if the traffic light signal timed out



* fix(traffic_light): fix README format



---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
saka1-s added a commit to tier4/autoware.universe that referenced this pull request Mar 11, 2024
@saka1-s @satoshi-ota
@kminoda @TomohitoAndo @pre-commit-ci @maxime-clem @takeshi-iwanari @YoshiRi @soblin @YamatoAndo @0x126 @SakodaShintaro @mehmetdogru @rej55 @kyoichi-sugahara
feat: keep stop policy v0.11.2 (#1125)
23d651f 
* feat(avoidance): keep stopping until all shift lines are registered

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(map_loader): display curbstone as marker array (autowarefoundation#4958)

display curbstone as marker array

Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

* revert refactoring due to cherry-pick

* feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031)

* feat(ndt_scan_matcher): use glog



* style(pre-commit): autofix

* update



* style(pre-commit): autofix

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(out_of_lane): improve reuse of previous decision (#1017)

* Do not directly reuse a prev stop point but project it on the new path

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* Improve reuse of the previously inserted stop point

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* Fix precision of inserted stop point

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

---------

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* fix(system_monitor): output command line (autowarefoundation#5430) (#1057)

* fix(system_monitor): output command line



* style(pre-commit): autofix

---------

Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp>
Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: pull tracking object merger from awf/main

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (#1056)

Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532)

Signed-off-by: yamato-ando <Yamato ANDO>
Co-authored-by: yamato-ando <Yamato ANDO>

* fix(ndt_scan_matcher): delete unmerged feature

* fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951)

Fixed the lock scope in update_ndt

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

* fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (#1075)

fix(utils): fix drivable area expansion logic for zebra zone

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(bvp): traffic light state debug (#1083)

Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai>

* fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#1124)

* fix(traffic_light): stop if the traffic light signal timed out



* fix(traffic_light): fix README format



---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>

* refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (#1098)

* add debug info of qp solver



* no info for EigenLeastSquareLLT



* return 0 in base class

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yamato-ando <Yamato ANDO>
Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai>
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp>
Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
Co-authored-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 26, 2024
@rej55 @karishma1911
fix(traffic_light): stop if the traffic light signal timed out (autow…
9262339 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
@rej55 @karishma1911
fix(traffic_light): stop if the traffic light signal timed out (autow…
afe477c 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
@rej55 @karishma1911
fix(traffic_light): stop if the traffic light signal timed out (autow…
ae47a8a 
…arefoundation#5819)

* fix(traffic_light): stop if the traffic light signal timed out

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(traffic_light): fix README format

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

---------

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
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@satoshi-ota satoshi-ota satoshi-ota approved these changes

@TomohitoAndo TomohitoAndo Awaiting requested review from TomohitoAndo

@shmpwk shmpwk Awaiting requested review from shmpwk

@tkimura4 tkimura4 Awaiting requested review from tkimura4

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