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Add pull over as MRM behavior #3221

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3 tasks done
mkuri opened this issue Mar 30, 2023 · 4 comments
Open
3 tasks done

Add pull over as MRM behavior #3221

mkuri opened this issue Mar 30, 2023 · 4 comments
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@mkuri
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component:planning Route planning, decision-making, and navigation. (auto-assigned) component:system System design and integration. (auto-assigned) status:stale Inactive or outdated issues. (auto-assigned) type:new-feature New functionalities or additions, feature requests.

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@mkuri
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mkuri commented Mar 30, 2023 •
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Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

Currently, the only choices for the MRM (Minimum Risk Maneuver) behavior are emergency stop and comfortable stop.
In order to stop the vehicle so as not to impede traffic when the autonomous driving system fails, we will add pull over as MRM behavior.

Purpose

  • Add pull over as MRM behavior

Possible approaches

  • Create MRM pull over operater node
  • The node sends the target pull over position to the mission planner and the existing pull over module in the planning component will pull over to the target position appropriately.

New nodes and topics are indicated by red lines.
Screenshot from 2023-03-30 15-09-39

Definition of done

  • Able to pull over as MRM behavior
@mkuri mkuri added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:system System design and integration. (auto-assigned) labels Mar 30, 2023
@isamu-takagi isamu-takagi mentioned this issue Mar 30, 2023
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@kosuke55 kosuke55 mentioned this issue Mar 31, 2023
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@BonoloAWF BonoloAWF added the type:new-feature New functionalities or additions, feature requests. label Apr 4, 2023
@isamu-takagi isamu-takagi mentioned this issue Apr 6, 2023
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@isamu-takagi isamu-takagi mentioned this issue May 26, 2023
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stale bot commented Jun 8, 2023

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Jun 8, 2023
@kosuke55
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kosuke55 commented Feb 1, 2024

routing-MRM drawio

@stale stale bot removed the status:stale Inactive or outdated issues. (auto-assigned) label Feb 1, 2024
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kosuke55 commented Feb 1, 2024

PR: #5634

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stale bot commented Apr 1, 2024

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Apr 1, 2024
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@mkuri mkuri

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component:planning Route planning, decision-making, and navigation. (auto-assigned) component:system System design and integration. (auto-assigned) status:stale Inactive or outdated issues. (auto-assigned) type:new-feature New functionalities or additions, feature requests.
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