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Behavior Planner Time Consumption Due to side_shift Module #6554
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@StepTurtle |
I have not been able to reproduce the issue with my dummy large map. |
@maxime-clem Here is the map I used: https://drive.google.com/drive/folders/1ZNJBis-fVaAaleumWh-BxEFdnJn2QpBH?usp=drive_link Also here is the commands to declare initial pose and goal pose, if you don't want to wait lanelet2 loading:
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Hello @maxime-clem . You were able to test this. Are there any extra requirements to reproduce it? |
@meliketanrikulu I was able to reproduce this performance issue using the map shared above.
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Checklist
Description
When running Autoware with a large-scale map and providing a long route, there is a noticeable increase in time consumption for the side_shift module. This results in a gradual decrease in planner speed to 1 or 2 Hz as the vehicle progresses.
We have no idea whether the problem will also occur on small maps because we have not figured out how to use small maps to test this situation.
Expected behavior
The side_shift module should operate efficiently with large-scale maps and long routes, ensuring that the planner maintains a consistent speed without significant degradation over time.
Actual behavior
Currently, the side_shift module exhibits increased time consumption with large-scale maps and long routes, leading to a gradual decrease in planner speed as the vehicle progresses.
planning_low_hz_side_shift_module.webm
Steps to reproduce
1.Load a large-scale map into Autoware.
2.Plan a long route for the vehicle.
3.Run Autoware and observe the performance of the side_shift module over time.
Tip
Versions
Possible causes
No response
Additional context
No response
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