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fix(detection_area): search collision index only in lanelet #695

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merged 4 commits into from
Aug 25, 2023
Merged

fix(detection_area): search collision index only in lanelet #695

merged 4 commits into from
Aug 25, 2023

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h-ohta
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@h-ohta h-ohta commented Jul 28, 2023 •
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Description

autowarefoundation#405 を参考に

Detection Areaに紐づく停止線の挿入位置を間違えないようにするために

  • Detection AreaをRegulatory Elementとして持つlaneletのidを変数として保持
  • Detection Areaの停止線と交差する経路位置の探索を、上記idのlanelet内に限定する

これにより、「1つのlaneletにおいて重複が発生し、かつ重複している場所にdetection_areaがある」の場合を除けば停止線の位置を間違えることはなくなる

図示すると以下の通り
b862c969-3c38-4cc3-b35e-02043901a6dc

Related links

https://tier4.atlassian.net/browse/AEAP-685

Tests performed

経路が重複する位置にdetection areaが設定されている地図においてAfterのとおりになることを確認した

Before:

output-2023-07-27_10.03.36.mp4

After:

output-2023-07-28_17.22.01.mp4

Notes for reviewers

Interface changes

Effects on system behavior

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@h-ohta h-ohta marked this pull request as ready for review August 3, 2023 07:23
@h-ohta h-ohta requested review from yn-mrse and YoheiMishina August 3, 2023 07:23
@h-ohta h-ohta requested review from asa-naki, sfukuta and yn-mrse and removed request for yn-mrse August 25, 2023 02:15
@asa-naki
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もし仮に往路用にDetection Areaがもう１つ設置されて右側の停止線でのstop_line付近にDetectionAreaの停止線が入ってた地図が新しく運用されても、今回の修正によってそちらも対応できるということになるのでしょうか？

@h-ohta
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h-ohta commented Aug 25, 2023

@asa-naki ちょっと具体的なイメージが浮かばないので、もう少しどういう状況を考えているか、図などでせつめいいただけるとありがたいです

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image

@h-ohta
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h-ohta commented Aug 25, 2023 •
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画像確認しました。今回の修正では、その停止線が属するlaneletの中でのみ、停止線を挿入する位置を探すこととなります。
なので、画像の場合についても往路側のDAは往路側のstoplineと紐付いていて、往路側のlaneletに属するのであれば、対応が出来ています

@asa-naki
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画像確認しました。今回の修正では、その停止線が属するlaneletの中でのみ、停止線を挿入する位置を探すこととなります。
なので、画像の場合についても往路側のDAは往路側のstoplineと紐付いていて、往路側のlaneletに属するのであれば、対応が出来ています

であればLGTMです！

@h-ohta h-ohta enabled auto-merge (squash) August 25, 2023 08:33
@h-ohta h-ohta merged commit 66f333e into beta/v0.3.17 Aug 25, 2023
@h-ohta h-ohta deleted the fix/detection_area_loop branch August 25, 2023 08:34
@h-ohta h-ohta mentioned this pull request Oct 12, 2023
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asa-naki pushed a commit that referenced this pull request Aug 14, 2024
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fix(detection_area): search collision index only in lanelet (#695)
6ac6719 
* fix(detection_area): search collision index only in lanelet

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