feat(lane_change): update resamplePath function for target section #2622
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Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Codecov ReportBase: 11.49% // Head: 11.47% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2622 +/- ##
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- Coverage 11.49% 11.47% -0.02%
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Files 1271 1271
Lines 88414 88568 +154
Branches 23314 23419 +105
==========================================
+ Hits 10165 10166 +1
- Misses 67478 67624 +146
- Partials 10771 10778 +7
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This is an alternative to #2545 |
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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…utowarefoundation#2622) * feat(lane_change): update resamplePath function for target section Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: apply pre-commit Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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…utowarefoundation#2622) (#239) * feat(lane_change): update resamplePath function for target section Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix: apply pre-commit Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Description
To reduce the computational cost of the LaneChange module, the
target_sectionis introduced for the spline resampling.Related links
Tests performed
Run on psim. The Hz increases from 1.8Hz to 4.4Hz when making lane change path candidate with 10m/s ego speed.
Before: 1.8Hz
After 4.4Hz
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