fix(obstacle_avoidance_planner): fix optimization constraint for narrow-road driving #3701
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…ow-road driving Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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## main #3701 +/- ##
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Coverage 14.56% 14.56%
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Files 1409 1409
Lines 99290 99290
Branches 29347 29347
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Hits 14458 14458
Misses 69247 69247
Partials 15585 15585
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kosuke55
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…ow-road driving (autowarefoundation#3701) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ow-road driving (autowarefoundation#3701) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ow-road driving (autowarefoundation#3701) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ow-road driving (autowarefoundation#3701) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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* feat(dynamic_avoidance): apply LPF to shift length, and positive relative velocity (autowarefoundation#4047) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(dynamic_avoidance): suppress flickering of dynamic avoidance launching (autowarefoundation#4048) * feat(dynamic_avoidance): suppress flickering of dynamic avoidance launching Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update config Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(dynamic_avoidance): ignore cut-out vehicle Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update cut out decision policy Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(obstacle_avoidance_planner): smooth path connection after optimization (autowarefoundation#3754) * fix(obstacle_avoidance_planner): smooth path connection after optimization Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(obstacle_avoidance_planner): fix optimization constraint for narrow-road driving (autowarefoundation#3701) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(lane_change): copy drivable area info (autowarefoundation#3738) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(map_based_prediction): suppress lane change decision flickering (autowarefoundation#3788) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(map_based_prediction): disable time delay compensation (autowarefoundation#3806) * disable time delay compensation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix unused parameter Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix lane change decision not working problem due to empty future_lanenet in unconnected lanelets Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix(behavior_path_planner): boundary's nearest search (autowarefoundation#3716) * fix(behavior_path_planner): boundary's nearest search Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(behavior_path_planner): extract backward obstacles correctly (autowarefoundation#3719) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(behavior_path_planner): extract obstacles from drivable area without intersection (autowarefoundation#3741) * fix(behavior_path_planner): extract obstacles from drivable area without intersection Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update map_based_prediction method Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix(avoidance): fix invalid cherry pick Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com>
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…ow-road driving (autowarefoundation#3701) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
The logic to modify the optimization constraint in the case where the drivable area's width is smaller than the vehicle's width (e.g. dynamic obstacle is extracted from the drivable area) is wrong.
Tests performed
planning simulator
Effects on system behavior
Optimization will become easier to be solved in the case where the drivable area's width is smaller than the vehicle's width (e.g. dynamic obstacle is extracted from the drivable area)
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