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fix(lane_departure_checker): empty lanelet polygon #6588

Merged
merged 3 commits into from
Mar 11, 2024
Merged

fix(lane_departure_checker): empty lanelet polygon #6588

merged 3 commits into from
Mar 11, 2024

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danielsanchezaran
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Description

Currently there is an issue with the LaneDepartureChecker::getFusedLaneletPolygonForPath() method of the lane departure checker which causes it to return an incomplete or sometimes disjointed polygon. The result is that sometimes part of the ego path would be cut. This PR solves the issue.

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After:
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After:
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cap-.2024-03-11-16-32-37.mp4

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Tests performed

Evaluator tests -> No degradation: TIER IV INTERNAL LINK

Notes for reviewers

Interface changes

Effects on system behavior

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@danielsanchezaran
fix union sometimes returning empty polygon
5ca037f 
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran
fix union of polygons
716d6ba 
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran
fix back launcher
afc0f07 
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran danielsanchezaran marked this pull request as ready for review March 11, 2024 08:18
@github-actions github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) labels Mar 11, 2024
@kyoichi-sugahara kyoichi-sugahara added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 11, 2024
@kyoichi-sugahara kyoichi-sugahara self-assigned this Mar 11, 2024
kyoichi-sugahara
kyoichi-sugahara approved these changes Mar 11, 2024
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LGTM!

@danielsanchezaran danielsanchezaran enabled auto-merge (squash) March 11, 2024 08:50
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codecov bot commented Mar 11, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 13 lines in your changes are missing coverage. Please review.

Project coverage is 14.77%. Comparing base (e2aee50) to head (afc0f07).
Report is 7 commits behind head on main.

Files Patch % Lines
..._departure_checker_node/lane_departure_checker.cpp 0.00% 12 Missing ⚠️
...r_path_start_planner_module/src/shift_pull_out.cpp 0.00% 1 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #6588      +/-   ##
==========================================
- Coverage   14.77%   14.77%   -0.01%     
==========================================
  Files        1917     1917              
  Lines      132316   132320       +4     
  Branches    39297    39296       -1     
==========================================
  Hits        19550    19550              
- Misses      90939    90943       +4     
  Partials    21827    21827
Flag Coverage Δ *Carryforward flag
differential 10.43% <0.00%> (?)
total 14.77% <ø> (+<0.01%) ⬆️ Carriedforward from e2aee50

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

@danielsanchezaran danielsanchezaran merged commit 8bdb542 into autowarefoundation:main Mar 11, 2024
30 of 33 checks passed
@danielsanchezaran danielsanchezaran deleted the fix/empty_lanelet_polygon branch March 11, 2024 10:09
danielsanchezaran added a commit to tier4/autoware.universe that referenced this pull request Mar 11, 2024
@danielsanchezaran
fix(lane_departure_checker): empty lanelet polygon (autowarefoundatio…
9fee884 
…n#6588)

* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran danielsanchezaran mentioned this pull request Mar 12, 2024
Merged
7 tasks
shmpwk added a commit to tier4/autoware.universe that referenced this pull request Mar 12, 2024
@shmpwk
Merge pull request #1188 from tier4/beta/v0.20.1.4-lane-departure-che…
33c148f 
…cker-lanelet-polygon-fix

fix(lane_departure_checker): empty lanelet polygon (autowarefoundation#6588)
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
@danielsanchezaran @HansRobo
fix(lane_departure_checker): empty lanelet polygon (#6588)
e6482b7 
* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
kaigohirao pushed a commit to kaigohirao/autoware.universe that referenced this pull request Mar 22, 2024
@danielsanchezaran @kaigohirao
fix(lane_departure_checker): empty lanelet polygon (autowarefoundatio…
6c1d409 
…n#6588)

* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
danielsanchezaran added a commit to tier4/autoware.universe that referenced this pull request Apr 2, 2024
@danielsanchezaran
fix(lane_departure_checker): empty lanelet polygon (autowarefoundatio…
ff9c207 
…n#6588)

* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
satoshi-ota pushed a commit to tier4/autoware.universe that referenced this pull request Apr 5, 2024
@danielsanchezaran @satoshi-ota
fix(lane_departure_checker): empty lanelet polygon (autowarefoundatio…
f620372 
…n#6588)

* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Apr 8, 2024
@danielsanchezaran @kyoichi-sugahara
feat(lane departure check,start planner): update lane departure check…
afb0f60 
… (cherry pick 8bdb542 and 0042c20) (#1220)

* feat(lane_departure_checker,start_planner): add check for path within lanes for bvspm (autowarefoundation#6366)

* WIP add new methods for lane departure checker

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add lanelet polygon check for lane departure

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use new checkPathWillLeaveLane function

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* working solution, fix union bug

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* Add check fo backwards path

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* delete departure check lanes

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add lane departure check to geometric pullout

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* merge all union polygon

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* pre-commit changes

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* move the cheap/fast check first to possibly boost performance

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* declare missing function

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix(lane_departure_checker): empty lanelet polygon (autowarefoundation#6588)

* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* cherry pick 8bdb542 and 0042c20 from universe

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* remove unused methods

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
@danielsanchezaran @karishma1911
fix(lane_departure_checker): empty lanelet polygon (autowarefoundatio…
7ad69b2 
…n#6588)

* fix union sometimes returning empty polygon

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix union of polygons

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix back launcher

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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@kyoichi-sugahara kyoichi-sugahara kyoichi-sugahara approved these changes

@kosuke55 kosuke55 Awaiting requested review from kosuke55

@soblin soblin Awaiting requested review from soblin

@satoshi-ota satoshi-ota Awaiting requested review from satoshi-ota

@shmpwk shmpwk Awaiting requested review from shmpwk

@TomohitoAndo TomohitoAndo Awaiting requested review from TomohitoAndo

@tkimura4 tkimura4 Awaiting requested review from tkimura4

@mkuri mkuri Awaiting requested review from mkuri

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component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci)
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