fix(avoidance): the module ignored merging objects unexpectedly #6601

satoshi-ota · 2024-03-12T09:22:03Z

Description

Related PR: autowarefoundation/autoware_launch#923
Related ticket: https://tier4.atlassian.net/browse/RT1-202

Fix bug. The module ignored merging vehicle unexpectedly. Originally, I designed the module generates avoidance path for every objects that are NOT on ego lane. (Only for objects in intersection, the module sometimes ignores them.)

simplescreenrecorder-2024-03-14_16.26.27.mp4

And, this PR includes small refactoring as well.

Tests performed

webauto ci scenario run --project-id prd_jt --scenario-id f9e88ceb-0e06-48d5-9bad-be5ed4a244a0 --scenario-parameters '__tier4_modifier_npc_position_t=3'

PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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

shmpwk · 2024-03-14T07:40:27Z

@Owen-Liuyuxuan Could you review this code? Ota-san will test scenario so please just check the code.

Owen-Liuyuxuan · 2024-03-14T12:45:12Z

Thanks for the great response and contribution. The refactoring improves the readability of the codes; the codes update the target object filtering logic which should correctly implement the logic we hope to have.

I notice that overhang_lanelet array is added to the debug marker arrays, could there be additional materials/documentation on what we can see with the new debug markers?

Owen-Liuyuxuan · 2024-03-14T12:46:38Z

planning/behavior_path_avoidance_module/src/debug.cpp

@@ -188,10 +188,25 @@ MarkerArray createObjectInfoMarkerArray(const ObjectDataArray & objects, std::st
  return msg;
 }

+MarkerArray createOverhangLaneletMarkerArray(const ObjectDataArray & objects, std::string && ns)


Will there be additional documentation or image showing the usage of this marker?

@Owen-Liuyuxuan Thank you for your comment.

Unfortunatelly, there is no document about overhang lanelet. It is one of the ego driving lanelets (closest lanelet to the object) and used in the logic to check whether the object is on the ego lane.

Actually, it is difficult to understand without any comment. So, I'll add above brief explanation on code.

@Owen-Liuyuxuan I updated comment in code in 1344e6c.

satoshi-ota · 2024-03-14T23:31:51Z

Please check autowarefoundation/autoware_launch#923 as well.

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

codecov · 2024-03-15T00:37:37Z

Codecov Report

Attention: Patch coverage is 3.57143% with 54 lines in your changes are missing coverage. Please review.

Project coverage is 14.79%. Comparing base (f9fbd39) to head (1344e6c).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/utils.cpp	0.00%	14 Missing ⚠️
...nning/behavior_path_avoidance_module/src/debug.cpp	14.28%	6 Missing and 6 partials ⚠️
.../include/behavior_path_avoidance_module/helper.hpp	0.00%	10 Missing ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	0.00%	9 Missing ⚠️
...path_avoidance_module/src/shift_line_generator.cpp	0.00%	7 Missing ⚠️
...th_avoidance_by_lane_change_module/src/manager.cpp	0.00%	0 Missing and 1 partial ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6601      +/-   ##
==========================================
- Coverage   14.79%   14.79%   -0.01%     
==========================================
  Files        1920     1920              
  Lines      132379   132399      +20     
  Branches    39345    39360      +15     
==========================================
+ Hits        19584    19586       +2     
- Misses      90950    90963      +13     
- Partials    21845    21850       +5

Flag	Coverage Δ		*Carryforward flag
differential	`12.98% <3.57%> (?)`
total	`14.79% <ø> (+<0.01%)`	⬆️	Carriedforward from f9fbd39

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

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shmpwk

LGTM

…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>

…warefoundation#6601) * feat(avoidance): output overhang lanelet Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): avoid merging vehicle if it's NOT on ego lane. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): add flag to identify ambiguous vehicle Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): add helper function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * chore(avoidance): update comment Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Mar 12, 2024

satoshi-ota force-pushed the fix/force-avoid-condition branch from 572b9f6 to 27b5d1c Compare March 14, 2024 02:22

satoshi-ota added 2 commits March 14, 2024 13:58

feat(avoidance): output overhang lanelet

b499b4a

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

fix(avoidance): avoid merging vehicle if it's NOT on ego lane.

7f460ab

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

satoshi-ota force-pushed the fix/force-avoid-condition branch 2 times, most recently from 62ee88f to d6ac70d Compare March 14, 2024 07:07

satoshi-ota added 3 commits March 14, 2024 16:12

fix(avoidance): add flag to identify ambiguous vehicle

9ff0373

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

refactor(avoidance): add helper function

849f5cb

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

refactor(avoidance): rename param

d14d2f3

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

satoshi-ota force-pushed the fix/force-avoid-condition branch from d6ac70d to d14d2f3 Compare March 14, 2024 07:12

satoshi-ota marked this pull request as ready for review March 14, 2024 07:29

satoshi-ota requested review from rej55, kyoichi-sugahara, shmpwk, TakaHoribe, TomohitoAndo, tkimura4 and zulfaqar-azmi-t4 as code owners March 14, 2024 07:29

satoshi-ota changed the title ~~fix(avoidance): avoid merging vehicle if it's NOT on ego lane~~ fix(avoidance): the module ignore merging objects unexpectedly Mar 14, 2024

Owen-Liuyuxuan reviewed Mar 14, 2024

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satoshi-ota mentioned this pull request Mar 14, 2024

refactor(avoidance): rename param autowarefoundation/autoware_launch#923

Merged

5 tasks

chore(avoidance): update comment

1344e6c

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

satoshi-ota added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 14, 2024

satoshi-ota changed the title ~~fix(avoidance): the module ignore merging objects unexpectedly~~ fix(avoidance): the module ignored merging objects unexpectedly Mar 14, 2024

satoshi-ota requested a review from Owen-Liuyuxuan March 15, 2024 00:51

satoshi-ota assigned Owen-Liuyuxuan Mar 15, 2024

satoshi-ota assigned shmpwk Mar 15, 2024

shmpwk approved these changes Mar 15, 2024

View reviewed changes

satoshi-ota merged commit c653236 into autowarefoundation:main Mar 15, 2024
34 of 37 checks passed

satoshi-ota deleted the fix/force-avoid-condition branch March 15, 2024 02:01

satoshi-ota mentioned this pull request Mar 19, 2024

fix(avoidance): cherry pick PRs for avoidance module tier4/autoware.universe#1195

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fix(avoidance): the module ignored merging objects unexpectedly #6601

fix(avoidance): the module ignored merging objects unexpectedly #6601

satoshi-ota commented Mar 12, 2024 •

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fix(avoidance): the module ignored merging objects unexpectedly #6601

fix(avoidance): the module ignored merging objects unexpectedly #6601

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satoshi-ota commented Mar 12, 2024 • edited Loading

Description

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