feat(lane_change): cherry-pick lane change commits to beta/v0.29.0 #1441

zulfaqar-azmi-t4 · 2024-08-01T05:43:38Z

Description

Cherry-pick lane change module.

Several part of lane change module needs to be refactored to improve the processing time.

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	`finish_judge_lateral_angle_deviation`	`double`	`1.0`	lateral angle threshold to determine lane change completion
Added	`parked.expected_front_deceleration`	`double`	`-1.0`	The front object's maximum deceleration when the front vehicle perform sudden braking
Added	`parked.expected_rear_deceleration`	`double`	`-2.0`	The rear object's maximum deceleration when the rear vehicle perform sudden braking.
Added	`parked.rear_vehicle_reaction_time`	`double`	`1.0`	The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake.
Added	`parked.rear_vehicle_safety_time_margin`	`double`	`0.8`	The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking.
Added	`parked.lateral_distance_max_threshold`	`double`	`1.0`	The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe.
Added	`parked.longitudinal_distance_min_threshold`	`double`	`3.0`	The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe.
Added	`parked.longitudinal_velocity_delta_time`	`double`	`0.0`	The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance)
Added	`skip_process.longitudinal_distance_diff_threshold.prepare`	`double`	`1.0`	prepare longitudinal distance threshold to skip path planning
Added	`skip_process.longitudinal_distance_diff_threshold.lane_changing`	`double`	`1.0`	lane changing longitudinal distance threshold to skip path planning

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	`finish_judge_lateral_threshold`	`double`	`0.2`	lateral threshold to determine lane change completion
New	`finish_judge_lateral_threshold`	`double`	`0.1`	lateral threshold to determine lane change completion

Effects on system behavior

None.

…efoundation#7508) * refactor(lane_change): use lane change namespace for structs Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Move lane change namespace to bottom level Signed-off-by: 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>

…utowarefoundation#7504) * RT1-6230 feat(route_handler): add unit test for lane change related functions Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spell check Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spellcheck Signed-off-by: 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>

…foundation#7841) * move struct to lane change namespace Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Revert "move struct to lane change namespace" This reverts commit 306984a. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…utowarefoundation#7964) fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…pdated (autowarefoundation#7989) * refactor(lane_change): compute lanes and polygon only when updated Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Revert accidental changesd This reverts commit cbfd9ae. Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spell check Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Make a common getter for current lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add target lanes getter Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * some minor function refactoring Signed-off-by: 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>

RT1-6955: delay lane change cancel Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…ion#8093) * employ lanelet based filtering before distance based filtering Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * use distance based to terminal check instead Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * remove RCLCPP INFO Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update flow chart Signed-off-by: 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>

…towarefoundation#8208) fix:passedByValue Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>

* fix(lane_change): relax finish judge Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * documentation update Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update readme explanations Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update config Signed-off-by: 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>

autowarefoundation#8316) * different rss value for parked vehicle Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Documentation and config file update Signed-off-by: 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>

… point (autowarefoundation#8357) * check start point directly after getting start point Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

…owarefoundation#8358) Refactor debug print Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…l start (autowarefoundation#8359) Skip computation if prepare length exceed distance to terminal start Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…ong (autowarefoundation#8362) rework. skip lane changing for insufficeient distance in target lane Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…rence is less than threshold (autowarefoundation#8363) * fix when prepare length is insufficient Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add reason for comparing prev_prep_diff with eps for lc_length_diff Signed-off-by: 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>

…efoundation#8214) * refactor(lane_change): separate leading and trailing objects Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Refactor to use common function Signed-off-by: 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>

Naophis · 2024-08-13T02:53:38Z

@zulfaqar-azmi-t4
Could you please explain the purpose of this PR?
I've looked through the commit list, and it seems to be mainly refactoring for lane change function. Is that correct?

shmpwk

@zulfaqar-azmi-t4 cc. @Naophis
Thank you so much! I'd like to merge this after v0.46.0 release this week. Until that let me change this PR to draft 🙏

zulfaqar-azmi-t4 · 2024-08-13T04:28:44Z

@Naophis

Could you please explain the purpose of this PR?
I've looked through the commit list, and it seems to be mainly refactoring for lane change function. Is that correct?

I have updated the explanation in the PR description. To summarize, the most biggest and important change is the processing time improvement when generating lane change path. The change is made possible by the refactoring of lane change task.

saka1-s · 2024-08-15T00:58:56Z

@shmpwk @Naophis
A bug(slack) has been found in the LC module.
Azu-san has prepared the fix PR, and this PR is assumed to be merged before.　
If there doesn't seem to be any issues with this PR, would it be possible to include it in v0.29.0?

saka1-s · 2024-08-15T00:59:53Z

I will check evaluator result.

…tion#8470) fix invalid doesn't have stop point Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 · 2024-08-15T09:00:03Z

@shmpwk @Naophis
I have two additional PR that will be helpful which I already tested in an experiment a week ago.

Since it is already reviewed and approved, i think i need to ask both of your agreement before I add another commit.
So, it is okay for me to add them in this cherry-pick?
autowarefoundation#8381
autowarefoundation#8218

shmpwk · 2024-08-15T09:49:00Z

@zulfaqar-azmi-t4 @Naophis @saka1-s

xx1 v0.46.0(universe v0.29.1) has been released today.

So we xx1 is ready to merge this great cherry pick.
Also, the following PRs look nice for me and I eager to cherry pick them.
autowarefoundation#8381
autowarefoundation#8218

…warefoundation#8381) * do not cancel if ego vehicle approaching terminal start Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Insert stop point if object is coming from rear Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor edit to fix conflict Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename function Signed-off-by: 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>

…nes (autowarefoundation#8218) * object 3rd Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * named param 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>

zulfaqar-azmi-t4 · 2024-08-15T10:19:07Z

@shmpwk
That is great! Thank you so much. I have cherry-picked them.

Naophis · 2024-08-15T11:09:00Z

@zulfaqar-azmi-t4 cc: @saka1-s
thanks for informed me.
I wanna use cherry pick them in X2 v3.1.0 , and please change Draft to PR.

sonarqubecloud · 2024-08-16T01:52:34Z

Quality Gate passed

Issues
6 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
1.6% Duplication on New Code

See analysis details on SonarCloud

zulfaqar-azmi-t4 requested review from rej55, go-sakayori, kosuke55, soblin, takayuki5168, kyoichi-sugahara, satoshi-ota, shmpwk, TakaHoribe, TomohitoAndo and tkimura4 as code owners August 1, 2024 05:43

github-actions bot added component:planning type:documentation component:common labels Aug 1, 2024

zulfaqar-azmi-t4 force-pushed the cp-lane-change branch from 7dee9e7 to 3338f38 Compare August 6, 2024 07:15

zulfaqar-azmi-t4 and others added 7 commits August 13, 2024 10:30

fix(autoware_behavior_path_lane_change_module): fix shadowVariable (a…

2cd6601

…utowarefoundation#7964) fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix(lane_change): delay lane change cancel (autowarefoundation#8048)

ab60a5b

RT1-6955: delay lane change cancel Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 force-pushed the cp-lane-change branch from 3338f38 to 6d38b7f Compare August 13, 2024 01:31

kobayu858 and others added 7 commits August 13, 2024 10:47

fix(autoware_behavior_path_lane_change_module): fix passedByValue (au…

8a3411a

…towarefoundation#8208) fix:passedByValue Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>

refactor(lane_change): refactor debug print when computing paths (aut…

98c7b19

…owarefoundation#8358) Refactor debug print Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix(lane_change): skip path computation if len exceed dist to termina…

a1d4bfe

…l start (autowarefoundation#8359) Skip computation if prepare length exceed distance to terminal start Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 changed the title ~~feat(lane_change): cherry-pick lane change commits for beta/v0.46.0~~ feat(lane_change): cherry-pick lane change commits to beta/v0.29.0 Aug 13, 2024

zulfaqar-azmi-t4 assigned shmpwk Aug 13, 2024

zulfaqar-azmi-t4 mentioned this pull request Aug 13, 2024

feat(lane_change): cherry-pick lane change commits to beta/v0.29.0 tier4/autoware_launch#537

Merged

4 tasks

zulfaqar-azmi-t4 assigned Naophis Aug 13, 2024

Merge branch 'beta/v0.29.0' into cp-lane-change

6dbbbe6

shmpwk approved these changes Aug 13, 2024

View reviewed changes

shmpwk marked this pull request as draft August 13, 2024 03:24

shmpwk requested a review from shtokuda August 15, 2024 01:45

fix(lane_change): fix invalid doesn't have stop point (autowarefounda…

55e6408

…tion#8470) fix invalid doesn't have stop point Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 added 2 commits August 15, 2024 19:17

Merge branch 'beta/v0.29.0' into cp-lane-change

c39b160

zulfaqar-azmi-t4 marked this pull request as ready for review August 15, 2024 14:38

Merge branch 'beta/v0.29.0' into cp-lane-change

a9f63ec

Naophis enabled auto-merge August 16, 2024 01:34

Naophis merged commit 87cdb1e into beta/v0.29.0 Aug 16, 2024
20 of 21 checks passed

Naophis deleted the cp-lane-change branch August 16, 2024 01:35

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feat(lane_change): cherry-pick lane change commits to beta/v0.29.0 #1441

feat(lane_change): cherry-pick lane change commits to beta/v0.29.0 #1441

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feat(lane_change): cherry-pick lane change commits to beta/v0.29.0 #1441

feat(lane_change): cherry-pick lane change commits to beta/v0.29.0 #1441

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zulfaqar-azmi-t4 commented Aug 1, 2024 • edited Loading

Description

processing time improvement

improving lane change behavior

Bug fix

Related links

How was this PR tested?

Notes for reviewers

Interface changes

ROS Parameter Changes

Additions and removals

Modifications

Effects on system behavior

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