fix(lane_change): check prepare phase in intersection #6561

zulfaqar-azmi-t4 · 2024-03-07T07:15:36Z

Description

⚠️ Launch PR needs to be appoved first launch#930

Due to lane change is performed instantaneously after exiting from the intersection, sometimes the safety check might be a little be delayed, causes the CANCEL process to not be executed when necessary.

To avoid this issue, we have to increase the lane change safety check horizon, by also performing the safety check for the prepare phase when ego vehicle is in the intersection.

Before PR

before_intersection_check-.2024-03-07-15-12-20.mp4

After PR

with_intersection_check-.2024-03-07-15-54-40.mp4

Tests performed

PSIM, and rosbag.
Evaluator: TBA

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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planning/behavior_path_lane_change_module/src/scene.cpp

shmpwk · 2024-04-01T01:35:12Z

@Owen-Liuyuxuan
Could you review this PR?

codecov · 2024-04-01T02:52:15Z

Codecov Report

Attention: Patch coverage is 0% with 35 lines in your changes are missing coverage. Please review.

Project coverage is 14.94%. Comparing base (6e6e601) to head (4b97b63).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...ing/behavior_path_lane_change_module/src/scene.cpp	0.00%	21 Missing ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	10 Missing ⚠️
...g/behavior_path_lane_change_module/src/manager.cpp	0.00%	0 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6561      +/-   ##
==========================================
- Coverage   14.94%   14.94%   -0.01%     
==========================================
  Files        1942     1942              
  Lines      133948   133977      +29     
  Branches    39841    39856      +15     
==========================================
  Hits        20022    20022              
- Misses      91650    91677      +27     
- Partials    22276    22278       +2

Flag	Coverage Δ		*Carryforward flag
differential	`8.06% <0.00%> (?)`
total	`14.94% <ø> (+<0.01%)`	⬆️	Carriedforward from 6e6e601

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

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

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

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

github-actions · 2024-04-02T07:56:53Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6561/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-6561/planning/behavior_path_lane_change_module/

Owen-Liuyuxuan

It seems OK on my side. I found nothing to complain at the current version.

Owen-Liuyuxuan · 2024-04-01T06:53:58Z

planning/behavior_path_lane_change_module/src/scene.cpp

@@ -872,21 +872,24 @@ LaneChangeTargetObjects NormalLaneChange::getTargetObjects(
  // objects in current lane
  for (const auto & obj_idx : target_obj_index.current_lane) {
    const auto extended_object = utils::lane_change::transform(
-      objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_);
+      objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_,
+      check_prepare_phase());


It seems that check_prepare_phase should return the same results for all objects in different lanes. (Notify me if that is not correct). Then the function is better not be called in loops like this. Or is there any plans to make check_prepare_phase to be even more dynamic?

Thank you, this has been completed by the new update.

Thank you for the comment @Owen-Liuyuxuan.
Yes, as you mentioned, it was updated in 8c4258e

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

zulfaqar-azmi-t4 · 2024-04-02T09:59:06Z

@Owen-Liuyuxuan
Sorry for the constant changes, with the latest commit, there shouldn't be any additional updates anymore 👍🏼

If you can press approved, that would be very helpful.

shmpwk

LGTM

…tion#6561) * fix(lane_change): check prepare phase in intersection Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add new parameter, also create function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spell check * fix config file Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * call the function check_prepare_phase only once Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add parameter description in README Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor refactoring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen description Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix(lane_change): check prepare phase in intersection Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add new parameter, also create function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spell check * fix config file Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * call the function check_prepare_phase only once Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add parameter description in README Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor refactoring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen description Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…tion#6561) * fix(lane_change): check prepare phase in intersection Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add new parameter, also create function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spell check * fix config file Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * call the function check_prepare_phase only once Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add parameter description in README Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor refactoring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen description Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Mar 7, 2024

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-intersection branch from cfdf6cf to e9ee1e0 Compare March 7, 2024 07:16

zulfaqar-azmi-t4 changed the title ~~Fix lc collision check in intersection~~ fix(lane_change): check prepare phase in intersection Mar 7, 2024

shmpwk reviewed Mar 8, 2024

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zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-intersection branch from e9ee1e0 to 8c10227 Compare March 20, 2024 10:48

zulfaqar-azmi-t4 mentioned this pull request Mar 21, 2024

fix(lane_change): collision check for prepare in intersection autowarefoundation/autoware_launch#930

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4 tasks

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-intersection branch 2 times, most recently from b1c9169 to c1bac96 Compare March 29, 2024 06:59

zulfaqar-azmi-t4 marked this pull request as ready for review March 29, 2024 06:59

zulfaqar-azmi-t4 requested review from rej55, kosuke55, satoshi-ota, TomohitoAndo and tkimura4 as code owners March 29, 2024 06:59

zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 29, 2024

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-intersection branch from c1bac96 to 0f6e106 Compare March 29, 2024 10:37

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-intersection branch from 0f6e106 to 2f1597d Compare April 1, 2024 01:57

zulfaqar-azmi-t4 and others added 5 commits April 2, 2024 16:31

fix(lane_change): check prepare phase in intersection

f49e73d

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

Add new parameter, also create function

e5ff035

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

Rename parameters

9092f6f

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

fix spell check

7341a45

fix config file

3d8eb34

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

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-intersection branch from 8b5312a to 3d8eb34 Compare April 2, 2024 07:31

zulfaqar-azmi-t4 added 2 commits April 2, 2024 16:31

call the function check_prepare_phase only once

8c4258e

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

add parameter description in README

e06a9b2

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

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Apr 2, 2024

zulfaqar-azmi-t4 added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Apr 2, 2024

Owen-Liuyuxuan reviewed Apr 2, 2024

View reviewed changes

zulfaqar-azmi-t4 added 2 commits April 2, 2024 17:21

minor refactoring

b87c336

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

Doxygen description

4b97b63

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

zulfaqar-azmi-t4 mentioned this pull request Apr 2, 2024

feat(lane_change): check prepare phase in turn direction lanes #6726

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shmpwk approved these changes Apr 2, 2024

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zulfaqar-azmi-t4 merged commit 5ff3b17 into autowarefoundation:main Apr 3, 2024
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zulfaqar-azmi-t4 deleted the fix-lc-collision-check-in-intersection branch April 3, 2024 02:46

zulfaqar-azmi-t4 mentioned this pull request Apr 3, 2024

fix(lane_change): cherry pick for improvements tier4/autoware.universe#1223

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zulfaqar-azmi-t4 mentioned this pull request Apr 5, 2024

fix(lane_change): solve lane changing after intersection and/or turning tier4/autoware.universe#1226

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fix(lane_change): check prepare phase in intersection #6561

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fix(lane_change): check prepare phase in intersection #6561

fix(lane_change): check prepare phase in intersection #6561

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zulfaqar-azmi-t4 commented Mar 7, 2024 • edited Loading

Description

Before PR

After PR

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

shmpwk commented Apr 1, 2024

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