fix(behavior_path_planner): fix path distortion of no back pull out #2829
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Codecov ReportBase: 11.61% // Head: 11.60% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2829 +/- ##
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- Coverage 11.61% 11.60% -0.02%
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Files 1319 1319
Lines 92107 92253 +146
Branches 24425 24544 +119
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Hits 10702 10702
- Misses 70233 70378 +145
- Partials 11172 11173 +1
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tkimura4
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planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp
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planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp
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…c_parallel_parking.cpp
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…utowarefoundation#2829) * fix(behavior_path_planner): fix path distortion of no back pull out Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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…utowarefoundation#2829) (#273) * fix(behavior_path_planner): fix path distortion of no back pull out * Update planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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Signed-off-by: kosuke55 kosuke.tnp@gmail.com
Description
Fix path distortion of pull out path when backward driving is disabled.
The geometric pull out assumes that the start pose and the end pose is in parallel, but when backward driving is disabled the raw current pose is used as start pose and is not refined. In this PR, the current pose is refined to the lane for the start pose.
And add a guard for discontinuity.
Related links
tier4 intenal link
Tests performed
psim
how to reproduce the problem
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