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fix(avoidance): limit drivable lane only when the ego in on original lane #6349

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satoshi-ota
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@satoshi-ota satoshi-ota commented Feb 7, 2024

Description

There two bug in logic to limit avoidance shift length by traffic light signal.

BUG1: don't limit drivable area properly even when it's red signal.

Before this PR.
image

After this PR.
image

BUG2: don't keep limited drivable area after approving avoidance maneuver.

Before this PR.

simplescreenrecorder-2024-02-15_10.11.31.mp4

After this PR.

simplescreenrecorder-2024-02-15_10.41.57.mp4

Tests performed

Screenshot from 2024-02-15 14-12-28
Screenshot from 2024-02-15 14-13-53
Screenshot from 2024-02-15 14-15-10

Effects on system behavior

Nothing.

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 7, 2024
@satoshi-ota satoshi-ota force-pushed the fix/drivable-lane-limit branch 4 times, most recently from 09df296 to bacfc98 Compare February 15, 2024 02:56
@satoshi-ota satoshi-ota marked this pull request as ready for review February 15, 2024 02:56
…lane

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota satoshi-ota force-pushed the fix/drivable-lane-limit branch from bacfc98 to 0a66438 Compare February 15, 2024 05:19
@shmpwk shmpwk self-assigned this Feb 15, 2024
@shmpwk shmpwk added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 15, 2024
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LGTM

@satoshi-ota satoshi-ota enabled auto-merge (squash) February 15, 2024 08:21
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codecov bot commented Feb 15, 2024

Codecov Report

Attention: 34 lines in your changes are missing coverage. Please review.

Comparison is base (5015007) 14.99% compared to head (0a66438) 14.99%.
Report is 7 commits behind head on main.

Files Patch % Lines
...nning/behavior_path_avoidance_module/src/scene.cpp 37.93% 11 Missing and 7 partials ⚠️
...nning/behavior_path_avoidance_module/src/utils.cpp 26.31% 5 Missing and 9 partials ⚠️
...path_avoidance_by_lane_change_module/src/scene.cpp 0.00% 0 Missing and 2 partials ⚠️
Additional details and impacted files
@@           Coverage Diff           @@
##             main    #6349   +/-   ##
=======================================
  Coverage   14.99%   14.99%           
=======================================
  Files        1839     1839           
  Lines      127122   127159   +37     
  Branches    38083    38100   +17     
=======================================
+ Hits        19060    19070   +10     
- Misses      86739    86755   +16     
- Partials    21323    21334   +11     
Flag Coverage Δ *Carryforward flag
differential 13.10% <32.00%> (?)
total 14.98% <ø> (-0.01%) ⬇️ Carriedforward from 5015007

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

☔ View full report in Codecov by Sentry.
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@satoshi-ota satoshi-ota merged commit e1356ed into autowarefoundation:main Feb 15, 2024
29 of 32 checks passed
@satoshi-ota satoshi-ota deleted the fix/drivable-lane-limit branch February 15, 2024 12:52
satoshi-ota added a commit to satoshi-ota/autoware.universe that referenced this pull request Feb 15, 2024
…lane (autowarefoundation#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
shmpwk added a commit to tier4/autoware.universe that referenced this pull request Feb 15, 2024
fix(avoidance): limit drivable lane only when the ego in on original lane (autowarefoundation#6349)
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Feb 23, 2024
…lane (autowarefoundation#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
…lane (autowarefoundation#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Mar 8, 2024
…lane (autowarefoundation#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Apr 1, 2024
…lane (autowarefoundation#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Apr 8, 2024
…lane (autowarefoundation#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…lane (autowarefoundation#6349)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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2 participants