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fix(avoidance_by_lane_change): loosen execution condition #6220

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zulfaqar-azmi-t4
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Jan 30, 2024

Description

Previous avoidance by lane change execution condition uses maximum_avoidance_distance. This cause AbLC to be difficult to be execution.
Also there is no way to know visually about the execution check area.

This PR aims to solve two things

  1. Use minimum avoidance distance and adopted freenet convention, length for longitudinal distance. min_avoidance_length is now used.
  2. Added debug marker to visualize execution request condition area.
  3. Slight refactoring so that isExecutionRequested function is not too long.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 30, 2024
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the fix-ablc-loosen-execution-condition branch from d7553f6 to 0516282 Compare January 30, 2024 07:49
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LGTM

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codecov bot commented Feb 2, 2024

Codecov Report

Attention: 51 lines in your changes are missing coverage. Please review.

Comparison is base (1ed6fac) 15.07% compared to head (a2a42b3) 15.07%.
Report is 1 commits behind head on main.

Files Patch % Lines
...path_avoidance_by_lane_change_module/src/scene.cpp 0.00% 29 Missing ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp 0.00% 18 Missing ⚠️
...vior_path_lane_change_module/src/utils/markers.cpp 0.00% 3 Missing ⚠️
..._avoidance_by_lane_change_module/src/interface.cpp 50.00% 0 Missing and 1 partial ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6220      +/-   ##
==========================================
- Coverage   15.07%   15.07%   -0.01%     
==========================================
  Files        1832     1832              
  Lines      126556   126589      +33     
  Branches    38214    38217       +3     
==========================================
+ Hits        19076    19077       +1     
- Misses      86089    86121      +32     
  Partials    21391    21391              
Flag Coverage Δ *Carryforward flag
differential 8.41% <1.92%> (?)
total 15.07% <ø> (+<0.01%) ⬆️ Carriedforward from 1ed6fac

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

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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the fix-ablc-loosen-execution-condition branch 2 times, most recently from 2bc22be to 1d2cf9a Compare February 5, 2024 04:54
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the fix-ablc-loosen-execution-condition branch from 1d2cf9a to 567541a Compare February 15, 2024 02:02
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 15, 2024
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 enabled auto-merge (squash) February 15, 2024 02:03
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the fix-ablc-loosen-execution-condition branch from 567541a to a2a42b3 Compare February 22, 2024 04:07
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit 2389c15 into autowarefoundation:main Feb 22, 2024
20 of 23 checks passed
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the fix-ablc-loosen-execution-condition branch February 26, 2024 02:53
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
…undation#6220)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…undation#6220)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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3 participants