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fix(lane_change): orientation check when constructing path #6339

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zulfaqar-azmi-t4
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Feb 6, 2024

Description

solve this issueTIER IV internal JIRA link

When start planner performing geometric pull out, it requires time to transition to recovery steering angle. Therefore ego needs to stop during this recovery perios.
However, due to ego is currently in the current lane of lane change, it caused lane change to be activated, and the start planner path and ego vehicle path is combined.

Lane change path uses previous path output as the preparation path, and also compute new lane changing path. As the result of this combination, start planner couldn't perform the recovery steering, due to the discontinuity of the path caused by the combination of start planner path and lane change path.

To avoid this issue, when computing lane change path, the continuity of the path if computed based on the angle of ego. If there is 5 degree differences, lane change will discard the lane changing path, and lane change path will not be generated.

illustration

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Tests performed

Evaluator check TIER IV internal link

Notes for reviewers

Interface changes

Effects on system behavior

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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 6, 2024
@satoshi-ota satoshi-ota self-assigned this Feb 7, 2024
@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 7, 2024
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codecov bot commented Feb 7, 2024

Codecov Report

Attention: 4 lines in your changes are missing coverage. Please review.

Comparison is base (bd4b5ca) 14.36% compared to head (3043812) 14.36%.
Report is 31 commits behind head on main.

Files Patch % Lines
...havior_path_lane_change_module/src/utils/utils.cpp 0.00% 4 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6339      +/-   ##
==========================================
- Coverage   14.36%   14.36%   -0.01%     
==========================================
  Files        1907     1907              
  Lines      130136   130140       +4     
  Branches    37640    37642       +2     
==========================================
  Hits        18697    18697              
- Misses      90430    90434       +4     
  Partials    21009    21009              
Flag Coverage Δ *Carryforward flag
differential 8.75% <0.00%> (?)
total 14.36% <ø> (ø) Carriedforward from bd4b5ca

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

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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 marked this pull request as ready for review February 7, 2024 06:38
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LGTM!

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit 27895a0 into autowarefoundation:main Feb 8, 2024
36 of 40 checks passed
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the fix-lane-change-orientation-check branch February 8, 2024 00:42
shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Feb 8, 2024
…oundation#6339)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
zulfaqar-azmi-t4 added a commit to tier4/autoware.universe that referenced this pull request Feb 22, 2024
…oundation#6339)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
satoshi-ota pushed a commit to tier4/autoware.universe that referenced this pull request Feb 23, 2024
…oundation#6339)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
satoshi-ota pushed a commit to tier4/autoware.universe that referenced this pull request Feb 23, 2024
…oundation#6339)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
…oundation#6339)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…oundation#6339)

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