feat(lane_change): ensure LC merging lane stop point is safe #8369

mkquda · 2024-08-06T01:52:07Z

Description

In case of LC merging lane pattern, the width of the lane at the stop point is not guaranteed to be sufficient for ego vehicle. If LC path is not approved and ego continues up to stop point, ego body can exceed lane boundaries which is unsafe.

Changes

added function isMergingLane in planner common utils to check for merging lane pattern
added function getDistanceFromLastFitWidthToEnd in planner common utils to compute distance from last center line point within width threshold to lane end
refactor function getSignedDistanceFromBoundary in planner common utils
in case of LC merging lane pattern, subtract computed distance from distance_to_terminal to ensure safe stopping point

How was this PR tested?

tested with psim.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

When ego is approaching end of merging lane and LC path is not approved, ego should stop at safe point where ego body does not exceed lane boundaries

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

… lane end Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

github-actions · 2024-08-06T01:52:24Z

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planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp

codecov · 2024-08-06T02:28:23Z

Codecov Report

Attention: Patch coverage is 0% with 43 lines in your changes missing coverage. Please review.

Project coverage is 23.78%. Comparing base (196b9fa) to head (aacea06).
Report is 5 commits behind head on main.

Files	Patch %	Lines
..._path_lane_change_module/src/utils/calculation.cpp	0.00%	21 Missing ⚠️
...e_behavior_path_planner_common/src/utils/utils.cpp	0.00%	15 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	0.00%	7 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8369      +/-   ##
==========================================
- Coverage   23.87%   23.78%   -0.09%     
==========================================
  Files        1380     1389       +9     
  Lines      101867   101755     -112     
  Branches    38802    38622     -180     
==========================================
- Hits        24320    24205     -115     
+ Misses      75123    75093      -30     
- Partials     2424     2457      +33

Flag	Coverage Δ		*Carryforward flag
differential	`15.03% <0.00%> (?)`
total	`23.88% <ø> (+0.01%)`	⬆️	Carriedforward from 91a0af3

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

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Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

…oint-is-safe Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

…ne and lane polygon Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

...h_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp

...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

…oint-is-safe Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

…s-safe

zulfaqar-azmi-t4

LGTM. Thank you for fixing this issue!

xmfcx · 2024-08-16T12:34:11Z

Once this was merged, we started having test errors in the CI:
https://github.com/autowarefoundation/autoware.universe/actions/runs/10416334778

1 package had test failures: autoware_freespace_planning_algorithms

https://github.com/autowarefoundation/autoware.universe/actions/runs/10416334778/job/28848368965#step:16:17822

@mkquda could you look into it?

List: https://github.com/autowarefoundation/autoware.universe/actions/workflows/build-and-test.yaml?query=branch%3Amain

xmfcx · 2024-08-16T15:01:51Z

This ci failed last week too:
https://github.com/autowarefoundation/autoware.universe/actions/runs/10314646396

…efoundation#8369) * function to check for merging lane Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * function to compute distance from last fit width center line point to lane end Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * ensure lane width at LC stop point is larger than ego width Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor function isMergingLane Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * improve implementation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * apply logic only when current ego foot print is within lane Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * change implementation to use intersection points of buffered centerline and lane polygon Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * minor refactoring Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * overload function isEgoWithinOriginalLane to pass lane polygon directly Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

mkquda added 3 commits August 6, 2024 10:08

function to check for merging lane

7c5624c

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

function to compute distance from last fit width center line point to…

3100b59

… lane end Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

ensure lane width at LC stop point is larger than ego width

0f00e57

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

mkquda assigned maxime-clem and zulfaqar-azmi-t4 Aug 6, 2024

mkquda requested review from danielsanchezaran, rej55, go-sakayori, kosuke55, soblin, maxime-clem, satoshi-ota, shmpwk, TakaHoribe, takayuki5168, tkimura4, zulfaqar-azmi-t4 and TomohitoAndo as code owners August 6, 2024 01:52

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 6, 2024

maxime-clem added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 6, 2024

zulfaqar-azmi-t4 reviewed Aug 6, 2024

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zulfaqar-azmi-t4 reviewed Aug 6, 2024

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maxime-clem reviewed Aug 6, 2024

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mkquda added 2 commits August 6, 2024 13:03

refactor function isMergingLane

a0f247e

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

improve implementation

0f62b5d

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

mkquda requested review from maxime-clem and zulfaqar-azmi-t4 August 7, 2024 01:52

maxime-clem reviewed Aug 7, 2024

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planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp Outdated Show resolved Hide resolved

mkquda added 3 commits August 8, 2024 14:36

apply logic only when current ego foot print is within lane

e742b63

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

Merge branch 'awf-latest' into RT1-7485-ensure-LC-merging-lane-stop-p…

9b2c526

…oint-is-safe Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

change implementation to use intersection points of buffered centerli…

4b5d9af

…ne and lane polygon Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

mkquda requested a review from maxime-clem August 14, 2024 06:09

zulfaqar-azmi-t4 reviewed Aug 14, 2024

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...h_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp Outdated Show resolved Hide resolved

zulfaqar-azmi-t4 reviewed Aug 14, 2024

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planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp Show resolved Hide resolved

maxime-clem reviewed Aug 14, 2024

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...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Show resolved Hide resolved

minor refactoring

5b7a71d

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

mkquda requested review from maxime-clem and zulfaqar-azmi-t4 August 15, 2024 04:24

mkquda and others added 3 commits August 16, 2024 09:55

Merge branch 'awf-latest' into RT1-7485-ensure-LC-merging-lane-stop-p…

f40ab62

…oint-is-safe Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

overload function isEgoWithinOriginalLane to pass lane polygon directly

91a0af3

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>

Merge branch 'main' into RT1-7485-ensure-LC-merging-lane-stop-point-i…

aacea06

…s-safe

maxime-clem approved these changes Aug 16, 2024

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zulfaqar-azmi-t4 approved these changes Aug 16, 2024

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mkquda merged commit 0c28bc9 into autowarefoundation:main Aug 16, 2024
28 of 30 checks passed

mkquda deleted the RT1-7485-ensure-LC-merging-lane-stop-point-is-safe branch August 16, 2024 07:26

xmfcx mentioned this pull request Aug 16, 2024

ci: use aws codebuild #8498

Merged

zulfaqar-azmi-t4 mentioned this pull request Dec 20, 2024

perf(lane_change): path stability and correctness tier4/autoware.universe#1720

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feat(lane_change): ensure LC merging lane stop point is safe #8369

feat(lane_change): ensure LC merging lane stop point is safe #8369

mkquda commented Aug 6, 2024 •

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xmfcx commented Aug 16, 2024

feat(lane_change): ensure LC merging lane stop point is safe #8369

feat(lane_change): ensure LC merging lane stop point is safe #8369

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mkquda commented Aug 6, 2024 • edited Loading

Description

Changes

How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

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