feat(start_planner): add curvature limit for path generation #4263
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4263 +/- ##
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- Coverage 14.20% 14.17% -0.04%
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Files 1597 1597
Lines 109902 111158 +1256
Branches 31526 32457 +931
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+ Hits 15613 15753 +140
- Misses 77338 78326 +988
- Partials 16951 17079 +128
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Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55
reviewed
Jul 13, 2023
| // the calcBeforeShiftedArcLength is an approximate conversion from center line to center line | ||
| // (not shift path to centerline), the conversion result may too long or short. To prevent too | ||
| // short length, take maximum with the original distance. | ||
| // TODO(): update the conversion function and get rid of the comparison with original distance. |
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planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp:212: Missing username in TODO; it should look like "// TODO(my_username): Stuff." [readability/todo] [2]
planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp:212: TODO(my_username) should be followed by a space [whitespace/todo] [2]
| // the calcBeforeShiftedArcLength is an approximate conversion from center line to center line | ||
| // (not shift path to centerline), the conversion result may too long or short. To prevent too | ||
| // short length, take maximum with the original distance. | ||
| // TODO(): update the conversion function and get rid of the comparison with original distance. |
There was a problem hiding this comment.
Suggested change
| // TODO(): update the conversion function and get rid of the comparison with original distance. | |
| // TODO(kosuke55): update the conversion function and get rid of the comparison with original distance. |
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55
added a commit
to tier4/autoware.universe
that referenced
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Jul 20, 2023
…efoundation#4263) * feat: add curvature consideration in shift start Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * change param Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * maximum_curvature: 0.07 Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * update docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
To prevent a shift path from being too sharp in the start_planner as in the picture below, introduce a curvature limit.
The curvature limit is applied in the longitudinal distance calculation, resulting as below.
max curvature = 0.1 (longitudinal distance = 13.5 m)
max curvature = 0.08 (longitudinal distance = 16.1 m)
max curvature = 0.07 (longitudinal distance = 15.9 m)
max curvature = 0.06 (longitudinal distance = 17.9 m)
max curvature = 0.04 (longitudinal distance = 22.1 m)
max curvature = 0.03 (longitudinal distance = 26.8 m)
max curvature = 0.02 (longitudinal distance = 32.9 m)
max curvature = 0.01 (longitudinal distance = 46.6 m)
Related links
TIERIV INTERNAL TICKET
TIERIV INTERNAL SCENARIO TEST
Tests performed
Notes for reviewers
None
Interface changes
None
Effects on system behavior
The shift path in starting gets more smooth.
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