perf(lane_change): path stability and correctness #1720
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…ceed target lane boundary when changing lanes (autowarefoundation#8750) * check if LC candidate path footprint exceeds target lane far bound Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add parameter to enable/disable check Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * check only lane changing section of cadidate path Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * small refactoring Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
…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>
…foundation#8909) * refactor lane change utility funcions Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * LC utility function to get distance to next regulatory element Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * don't activate LC module when close to regulatory element Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * modify threshold distance calculation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * move regulatory element check to canTransitFailureState() function Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * always run LC module if approaching terminal point Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * use max possible LC length as threshold Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update LC readme Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor implementation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update readme Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor checking data validity Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor sampling of prepare phase metrics and lane changing phase metrics Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add route handler function to get pose from 2d arc length Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor candidate path generation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor candidate path safety check Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix variable name Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/autoware_route_handler/src/route_handler.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * correct parameter name Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * set prepare segment velocity after taking max path velocity value Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update LC README Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * minor changes Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * check phase length difference with previos valid candidate path Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * change logger name Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * change functions names to snake case Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * use snake case for function names Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add colors to flow chart in README Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
…change-related variables. (autowarefoundation#8954) * add transient data Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * reverted max lc dist in calcCurrentMinMax Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor refactoring Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update doxygen comments Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…#8979) * RT1-7991 fix abort distance enough check Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * RT-7991 remove unused function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…undation#8997) * add target lane length and ego arc length along current and target lanes to transient data Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor code using transient data Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor get_lane_change_paths function Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * minor refactoring Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor util functions Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor getPrepareSegment function Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
…utowarefoundation#8999) * RT1-8004 replace hasEnoughLength Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * RT1-8004 Removed isNearEndOfCurrentLanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * RT1-8004 refactor sample longitudinal acc values Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove calc maximum lane change length Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Revert "remove calc maximum lane change length" This reverts commit e9cc386. * Revert "RT1-8004 refactor sample longitudinal acc values" This reverts commit 775bcdb. * replace generateCenterLinePath Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * RT1-8004 simplify stuck detection Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * swap call to update filtered_objects and update transient data Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * RT1-8004 fix conflict Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * RT1-8004 Rename isVehicleStuck to is_ego_stuck() Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * RT1-8004 change calcPrepareDuration to snake case Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…arefoundation#9044) * refactor(lane_change): refactor get_lane_change_lanes function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add doxygen comment for to_geom_msg_pose Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…utowarefoundation#9070) * RT0-33761 fix lc insert stop for current lanes object Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix wrong value used for comparison Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * ignore current lane object that is not on ego's path Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove print Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update readme Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * revert is_within_vel_th removal Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix flowchart too wide Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename variable in has_blocking_target_object_for_stopping Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add docstring and rename function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * change color Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
…on#9085) * refactor(lane_change): reducing clang-tidy warnings Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * change function name to snake case Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…warefoundation#9124) * RT0-33893 add checks from prev intersection Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix shadow variable Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix logic Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update readme Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactor get_ego_footprint Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
… threshold (autowarefoundation#9279) fix computation of maximum lane changing length threshold Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
… (RT1-8427) (autowarefoundation#9268) * RT1-8427 extending lc path for multiple lc Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
…arefoundation#9288) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…vior (autowarefoundation#9372) * separate target lane leading objects based on behavior (RT1-8532) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fixed overlapped filtering and lanes debug marker Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * combine filteredObjects function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * renaming functions and type Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update some logic to check is stopped Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename expanded to stopped_outside_boundary Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Include docstring Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename stopped_outside_boundary → stopped_at_bound Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * spell-check Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
…70) (autowarefoundation#9090) * RT1-7970 testing base class Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * additional test Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Added update lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * check path generation Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * check is lane change required Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix PRs comment Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…utowarefoundation#9091) * fix calc_all_max_lc_lengths function Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * remove unused functions Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * remove limit on velocity in calc_all_max_lc_lengths function Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * sample longitudinal acceleration separately for each prepater duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor prepare phase metrics calculation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * check for zero value prepare duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor calc_lon_acceleration_samples function Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
…er velocity (autowarefoundation#8961) * check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * move functions to relevant module Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * suppress unused function cppcheck Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * minor change Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
…ation#9403) * refactor lane change parameters Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update lane change param yaml Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update lane change README Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * regroup some parameters Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * run pre-commit prettier step Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/parameters.hpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * apply pre-commit checks Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
…overloaded-virtual (autowarefoundation#9400) Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
…error (autowarefoundation#9402) Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
…unused-variable (autowarefoundation#9401) Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
…n#9480) * implement function to check if lane change delay is required Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor function isParkedObject Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * refactor delay lane change parameters Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update lc param yaml Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * separate target lane leading objects based on behavior (RT1-8532) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fixed overlapped filtering and lanes debug marker Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * combine filteredObjects function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * renaming functions and type Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update some logic to check is stopped Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename expanded to stopped_outside_boundary Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Include docstring Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename stopped_outside_boundary → stopped_at_bound Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * spell-check Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add docstring for function is_delay_lane_change Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * remove unused functions Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add delay parameters to README Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add documentation for delay lane change behavior Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * run pre-commit checks Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * only check for delay lc if feature is enabled Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
autowarefoundation#9545) * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * run pre-commit check Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix format Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
…vated (autowarefoundation#9185) * add minimum prepare duration parameter Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * reduce prepare duration according to signal activation time Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * chore: update CODEOWNERS (autowarefoundation#9203) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * refactor(time_utils): prefix package and namespace with autoware (autowarefoundation#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(rtc_interface): add requested field (autowarefoundation#9202) * add requested feature Signed-off-by: Go Sakayori <gsakayori@gmail.com> * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (autowarefoundation#9199) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(bpp): prevent accessing nullopt (autowarefoundation#9204) fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (autowarefoundation#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: grouping parameters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: separate util functions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (autowarefoundation#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added Copyright Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed cast style Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed honorific title Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed honorific title Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added cspell:ignore Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed miss spell Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Renamed applyFilter Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to pass by reference Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_test_utils): add traffic light msgs parser (autowarefoundation#9177) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * modify implementation to compute and keep actual prepare duration in transient data Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * if LC path is approved, set prepare duration in transient data from approved path prepare duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * change default value of LC param min_prepare_duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * add function to set signal activation time, add docstring for function calc_actual_prepare_duration Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * check for zero value max_acc to avoid division by zero Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * chore: rename codeowners file Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: rename codeowners file Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: rename codeowners file Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix units Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * run pre-commit check Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix format Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * allow decelerating in lane changing phase near terminal Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * run pre-commit check Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix format Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>
…undation#9385) * RT1-8537 check object's predicted path when filtering Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * use ranges view in get_line_string_paths Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * check only vehicle type predicted path Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Refactor naming Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix grammatical Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * precommit and grammar fix Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
…ion#9526) * fix(lane_change): remove overlapping preceding lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix cpp check Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * start searching disconnected lanes directly Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * just remove starting from overlapped found Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * return non reversed lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix precommit Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…efoundation#9625) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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Description
Related link:
TIER IV INTERNAL
There are several correctness bug in the old lane change implementation, and it will cause issue whereby we will not be able to find valid path if ego start to decelerate towards terminal.
cap-.2024-12-20-19-29-15.mp4
Notice that in above's video, as ego decelerate and approaching terminal, there is no valid path generated.
With this cherry-pick PR, the correctness should be fix, and the behavior is more stable.
cap-.2024-12-20-19-14-35.mp4
As shown in the video, the valid path appears more, compared to original video. With additional tuning, the situation should improved.
Require merging: #1712
Required launcher: https://github.com/tier4/autoware_launch.x2/pull/889
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.