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feat(avoidance): wait next shift approval until the ego reaches shift length threshold #6501
feat(avoidance): wait next shift approval until the ego reaches shift length threshold #6501
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planning/behavior_path_avoidance_module/config/avoidance.param.yaml
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Aside from the explanatoin, LGTM!
… length threshold Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
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LGTM
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Codecov ReportAttention: Patch coverage is
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
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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. |
… length threshold (autowarefoundation#6501) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
… length threshold (autowarefoundation#6501) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
feat(avoidance): wait next shift approval until the ego reaches shift length threshold (autowarefoundation#6501)
… length threshold (autowarefoundation#6501) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
… 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>
… length threshold (autowarefoundation#6501) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
… length threshold (autowarefoundation#6501) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
… length threshold (autowarefoundation#6501) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Description
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.)
In this PR, I added a param to delay return shift approval.
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
Effects on system behavior
Nothing.
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