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fix(obstacle_avoidance_planner): smooth path connection after optimization #3754

Merged
merged 2 commits into from
May 19, 2023
Merged

fix(obstacle_avoidance_planner): smooth path connection after optimization #3754

merged 2 commits into from
May 19, 2023

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takayuki5168
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@takayuki5168 takayuki5168 commented May 18, 2023 •
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Description

The trajectory optimization is applied to the first 100 meters.
The optimized trajectory's end point and the input path are connected smoothly by spline interpolation with the joint length = 5 meters.

In some cases, 5 meters is too short and the jointed trajectory's curvature is high, resulting in slow down by motion_velocity_smoother.
This PR changes the method of the connection.

Tests performed

planning simulator

Effects on system behavior

No change behvavior.

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@takayuki5168
fix(obstacle_avoidance_planner): smooth path connection after optimiz…
653bc15 
…ation

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label May 18, 2023
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codecov bot commented May 18, 2023 •
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Codecov Report

Patch coverage: 13.33% and project coverage change: +1.01 🎉

Comparison is base (206bc1e) 14.46% compared to head (995c01c) 15.47%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #3754      +/-   ##
==========================================
+ Coverage   14.46%   15.47%   +1.01%     
==========================================
  Files        1432     1326     -106     
  Lines      100828    94230    -6598     
  Branches    29764    29768       +4     
==========================================
+ Hits        14585    14586       +1     
+ Misses      70394    63794    -6600     
- Partials    15849    15850       +1
Flag Coverage Δ *Carryforward flag
differential 40.60% <13.33%> (?)
total 15.47% <ø> (+1.01%) ⬆️ Carriedforward from 653bc15

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
planning/obstacle_avoidance_planner/src/node.cpp 40.23% <0.00%> (-0.66%) ⬇️
...tacle_avoidance_planner/utils/trajectory_utils.hpp 47.05% <20.00%> (-0.86%) ⬇️

... and 107 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

@takayuki5168 takayuki5168 marked this pull request as ready for review May 18, 2023 10:52
@takayuki5168 takayuki5168 requested review from kosuke55, TakaHoribe and a team as code owners May 18, 2023 10:52
@takayuki5168
fix
995c01c 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168
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@kosuke55 Could you approve the PR.

@takayuki5168 takayuki5168 merged commit dc1ca9a into autowarefoundation:main May 19, 2023
@takayuki5168 takayuki5168 deleted the fix/smooth-path-connection-after-optimization branch May 19, 2023 07:05
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request May 22, 2023
Merged
j4tfwm6z pushed a commit to tier4/autoware.universe that referenced this pull request May 25, 2023
@takayuki5168
fix(obstacle_avoidance_planner): smooth path connection after optimiz…
dfe5e49 
…ation (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>
j4tfwm6z pushed a commit to tier4/autoware.universe that referenced this pull request Jun 22, 2023
@takayuki5168
fix(obstacle_avoidance_planner): smooth path connection after optimiz…
7637777 
…ation (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>
takayuki5168 added a commit to tier4/autoware.universe that referenced this pull request Jun 23, 2023
@takayuki5168
fix(obstacle_avoidance_planner): smooth path connection after optimiz…
4349216 
…ation (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>
takayuki5168 added a commit to tier4/autoware.universe that referenced this pull request Jun 26, 2023
@takayuki5168
fix(obstacle_avoidance_planner): smooth path connection after optimiz…
b1e3c60 
…ation (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>
1222-takeshi pushed a commit to tier4/autoware.universe that referenced this pull request Jun 26, 2023
@takayuki5168 @satoshi-ota @YoshiRi
hotfix: murooka's change for beta v0.42.1.0 (#615)
08fc2c9 
* 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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@kosuke55 kosuke55 kosuke55 approved these changes

@TakaHoribe TakaHoribe Awaiting requested review from TakaHoribe

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