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feat(avoidance): wait next shift approval until the ego reaches shift length threshold #6501

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satoshi-ota
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@satoshi-ota satoshi-ota commented Feb 27, 2024

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Related ticket: https://tier4.atlassian.net/browse/RT1-5327
Related PR: autowarefoundation/autoware_launch#891

Previously, avoidance module created return shift path and approved it as soon as possible. However, I think it is better to wait return shift approval because sometimes the vehicle can't detect objcets behind avoidance target. Othrewise, there is a possibility that the vehicle can't avoid behind object in following situaiton. (avoidance module creats return shift path even when there is anothre object behind current avoidance target.)

image

In this PR, I added a param to delay return shift approval.

          # approve next shift line after reaching this percentage of current shift line length.
          # this param is added so that it can wait return shift approval until the behind occlusion of avoid target is clear.
          # it's able to disable this feature by setting this param 0.0.
          ratio_for_return_shift_approval: 0.5          # [-]

If we set this param to 0.3, the module creates return shift path after reaching 70% of avoidance shift lateral length.

simplescreenrecorder-2024-02-27_17.59.51.mp4

Tests performed

  • PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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Aside from the explanatoin, LGTM!

… length threshold

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota satoshi-ota force-pushed the feat/wait-return-shift-approval branch from 4c31711 to 0ff9c56 Compare February 27, 2024 23:49
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
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LGTM

@shmpwk shmpwk added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 27, 2024
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
@satoshi-ota satoshi-ota enabled auto-merge (squash) February 28, 2024 10:07
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codecov bot commented Feb 28, 2024

Codecov Report

Attention: Patch coverage is 0% with 14 lines in your changes are missing coverage. Please review.

Project coverage is 14.63%. Comparing base (e64415b) to head (38a377a).
Report is 2 commits behind head on main.

Files Patch % Lines
.../include/behavior_path_avoidance_module/helper.hpp 0.00% 5 Missing and 2 partials ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp 0.00% 2 Missing and 3 partials ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp 0.00% 1 Missing and 1 partial ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6501      +/-   ##
==========================================
- Coverage   14.63%   14.63%   -0.01%     
==========================================
  Files        1900     1900              
  Lines      130645   130658      +13     
  Branches    38381    38390       +9     
==========================================
  Hits        19123    19123              
- Misses      90064    90071       +7     
- Partials    21458    21464       +6     
Flag Coverage Δ *Carryforward flag
differential 12.98% <0.00%> (?)
total 14.63% <ø> (+<0.01%) ⬆️ Carriedforward from e64415b

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

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xmfcx commented Feb 28, 2024

https://github.com/autowarefoundation/autoware.universe/actions/runs/8073426410/job/22057072499?pr=6501 was successful and auto-merge was enabled anyways.

I'm canceling the cuda job and merging directly because this code doesn't make any cuda related changes.

@xmfcx xmfcx disabled auto-merge February 28, 2024 15:19
@xmfcx xmfcx merged commit a25d0ec into autowarefoundation:main Feb 28, 2024
20 of 24 checks passed
@satoshi-ota satoshi-ota deleted the feat/wait-return-shift-approval branch February 29, 2024 00:02
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Feb 29, 2024
… length threshold (autowarefoundation#6501)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Feb 29, 2024
… length threshold (autowarefoundation#6501)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Feb 29, 2024
feat(avoidance): wait next shift approval until the ego reaches shift length threshold (autowarefoundation#6501)
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Mar 8, 2024
… length threshold (autowarefoundation#6501)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
… length threshold (#6501)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Apr 1, 2024
… length threshold (autowarefoundation#6501)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Apr 8, 2024
… length threshold (autowarefoundation#6501)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
… length threshold (autowarefoundation#6501)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
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3 participants