feat: keep stopping in hold stop margin distance #595
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#1100, #1126) (#592) * feat(tier4_autoware_utils): add pose interpolation function (#1097) Signed-off-by: yutaka <purewater0901@gmail.com> * feat(tier4_autoware_utils): add new orientation calculation (#1126) * feat(tier4_autoware_utils): add new orientation calculation Signed-off-by: yutaka <purewater0901@gmail.com> * fix format * feat(tier4_autoware_utils): add point interpolation function (#1100) --------- Signed-off-by: yutaka <purewater0901@gmail.com> Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
…1434) (#210) * feat(obstacle_stop_planner): add hold stop margin distance (#1434) * feat(obstacle_stop_planner): add hold stop margin distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(obstacle_stop_planner): output distance info Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(obstacle_stop_planner): add param into config Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: replace motion_utils to tier4_autoware_utils * ci(pre-commit): autofix --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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## beta/v0.3.16 #595 +/- ##
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* feat(tier4_autoware_utils): add geometry func from f321e40 Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * ci(pre-commit): autofix * feat: add is_driving_forward func * feat: add include file tf2 utils * feat: add include file math * feat(tier4_autoware_utils): add path_with_lane_id_geometry.hpp Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * feat: add include path_with_lane_id_geometry.hpp Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> --------- Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* feat(tier4_autoware_utils): add trajectory func from 514fea4 Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * feat: add path_with_lane_id.hpp from 7ef1bee Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * ci(pre-commit): autofix * fix: replace motion_utils to tier4_autoware_utils * fix: replace motion_utils to tier4_autoware_utils * ci(pre-commit): autofix * fix: replace motion_utils to tier4_autoware_utils * feat: add include path_with_lane_id.hpp Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> --------- Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* feat(behavior_planner): replace get_point function Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * feat: remove get_pose from virtual_traffic_light module Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * feat: remove get_pose from occlusion_spot module Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> --------- Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp>
#596) * feat(behavior_velocity_planner): changeable maximum stop distance (#1380) * fix(behavior_velocity_planner): changeable max stop distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): update default param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_plannerl): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behaivor_velocity_planner): fix current stop position Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * ci(pre-commit): autofix * fix: replace motion_utils to tier4_autoware_utils * ci(pre-commit): autofix * fix: remove set_distance func for rtc * fix: remove conflicting declaration stop_point & stop_pose Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
#604) * feat(behavior_velocity_planner): add hold stop margin distance in vtl module (#1454) * feat(behavior_velocity_planner): add hold stop margin distance in vtl module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): change default value Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: replace motion_utils to tier4_autoware_utils * ci(pre-commit): autofix --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…609) * feat: move alias polygons2d Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * feat: add alias same as #1383 Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * fix: replace motion_utils to tier4_autoware_utils Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * ci(pre-commit): autofix --------- Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* feat(tier4_autoware_utils): add trajectory funcs at 514fea4 Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * fix: replace motion_utils to tier4_autoware_utils Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * ci(pre-commit): autofix --------- Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
#612) * feat(behavior_velocity_planner): hold stop margin distance in stop line module (#1648) * feat(behavior_velocity_planner): hold stop margin distance in stop line module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): remove redundant offset term from arc length calculation Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: replace motion_utils to tier4_autoware_utils Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * feat: revive stopline_module functions Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> * ci(pre-commit): autofix --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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必須となる変更である #614 をマージすることが困難であるため、本PRはCancelとします。 |
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Description
障害物停止、Virtual Traffic Light、一時停止線などによる停車時において、
自己位置推定結果のぶれによる意図せぬ再発車が発生する問題があった。
これを改善するため、下記のPRを反映する。
本変更を取り込むにあたり、#614 もあわせて取り込む必要があった。
これは今回の目的とは違う範囲で車両挙動を変えるリスクのある変更であるため、このPRを適用する際には注意が必要である。
⇒ stoplineについて、autowarefoundation#1581 に関わる車両挙動が改善される。
virtual_traffic_light, detection area, その他scene_moduleについては今回変更最小としたが、リグレッションのリスクはある。
Related links
TIER IV INTERNAL LINK / JIRA:AEAP-85
Tests performed
下記の機能についての確認およびリグレッション確認が必要である。
Notes for reviewers
Interface changes
Effects on system behavior
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