feat(lane_change): check prepare phase in turn direction lanes #6726

zulfaqar-azmi-t4 · 2024-04-02T09:04:53Z

Description

⚠️ Need to merge together with the following PR
autowarefoundation/autoware_launch#943

Make lane change check more stricter in when performing lane change after making a turn.
This is done by performing collision check in the prepare phase.

Before PR

cap-.2024-04-02-19-06-44.mp4

After PR

success.mp4

Tests performed

Using scenario provided in TIER IV internal link

Evaluator TIER IV internal link. There seems to be no issue regarding this.

Effects on system behavior

Not applicable.

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shmpwk · 2024-04-03T03:06:48Z

@Owen-Liuyuxuan
Could you review this?

codecov · 2024-04-03T03:55:08Z

Codecov Report

Attention: Patch coverage is 0% with 10 lines in your changes are missing coverage. Please review.

Project coverage is 14.93%. Comparing base (41aab51) to head (39b4897).
Report is 2 commits behind head on main.

Files	Patch %	Lines
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	5 Missing ⚠️
...ing/behavior_path_lane_change_module/src/scene.cpp	0.00%	3 Missing ⚠️
...g/behavior_path_lane_change_module/src/manager.cpp	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6726      +/-   ##
==========================================
- Coverage   14.94%   14.93%   -0.01%     
==========================================
  Files        1944     1944              
  Lines      134025   134037      +12     
  Branches    39867    39877      +10     
==========================================
  Hits        20024    20024              
- Misses      91711    91720       +9     
- Partials    22290    22293       +3

Flag	Coverage Δ		*Carryforward flag
differential	`8.02% <0.00%> (?)`
total	`14.94% <ø> (+<0.01%)`	⬆️	Carriedforward from 41aab51

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

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Owen-Liuyuxuan

Thanks for the response and updates

Owen-Liuyuxuan · 2024-04-04T01:36:31Z

planning/behavior_path_lane_change_module/src/utils/utils.cpp

@@ -30,13 +30,16 @@
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
+#include <rclcpp/logger.hpp>


Is this being added by the CI? I can not find new codes here using logger.

Owen-Liuyuxuan · 2024-04-04T01:39:15Z

planning/behavior_path_lane_change_module/README.md

@@ -555,6 +555,7 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi
 | :------------------------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- |
 | `enable_collision_check_for_prepare_phase.general_lanes` | [-]   | boolean | Perform collision check starting from the prepare phase for situations not explicitly covered by other settings (e.g., intersections). If `false`, collision check only evaluated for lane changing phase. | false         |
 | `enable_collision_check_for_prepare_phase.intersection`  | [-]   | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase.                                                       | false         |
+| `enable_collision_check_for_prepare_phase.turns`         | [-]   | boolean | Perform collision check starting from prepare phase when ego is in lanelet with turn direction tags. If `false`, collision check only evaluated for lane changing phase.                                   | false         |


Please update the last value of the table as the default value we have in code and in the configuration.

I suppose there should be more updates around this.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

shmpwk

Thank you!

…arefoundation#6726) * feat(lane_change): check prepare phase in turn direction lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen comment Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add config Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix comments by the reviewer Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* feat(lane_change): check prepare phase in turn direction lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen comment Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add config Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix comments by the reviewer Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…arefoundation#6726) * feat(lane_change): check prepare phase in turn direction lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen comment Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add config Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix comments by the reviewer Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Apr 2, 2024

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-turns branch from 467849f to 27a548d Compare April 2, 2024 09:18

zulfaqar-azmi-t4 mentioned this pull request Apr 2, 2024

feat(lane_change): check prepare phase in turn direction lanes autowarefoundation/autoware_launch#943

Merged

4 tasks

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-turns branch from f9ef165 to 538269f Compare April 3, 2024 03:01

zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Apr 3, 2024

zulfaqar-azmi-t4 marked this pull request as ready for review April 3, 2024 03:03

zulfaqar-azmi-t4 requested review from rej55, kosuke55, satoshi-ota, shmpwk, TomohitoAndo and tkimura4 as code owners April 3, 2024 03:03

zulfaqar-azmi-t4 mentioned this pull request Apr 3, 2024

fix(lane_change): cherry pick for improvements tier4/autoware.universe#1223

Merged

7 tasks

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-turns branch from 538269f to ffe75ca Compare April 4, 2024 02:20

Owen-Liuyuxuan approved these changes Apr 4, 2024

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zulfaqar-azmi-t4 added 4 commits April 4, 2024 22:56

feat(lane_change): check prepare phase in turn direction lanes

18ff0cb

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Doxygen comment

896a236

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Add config

d605abf

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix comments by the reviewer

39b4897

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 force-pushed the fix-lc-collision-check-in-turns branch from ffe75ca to 39b4897 Compare April 4, 2024 13:57

zulfaqar-azmi-t4 enabled auto-merge (squash) April 5, 2024 01:16

shmpwk approved these changes Apr 5, 2024

View reviewed changes

zulfaqar-azmi-t4 merged commit 8046005 into autowarefoundation:main Apr 5, 2024
24 of 28 checks passed

zulfaqar-azmi-t4 mentioned this pull request Apr 5, 2024

fix(lane_change): solve lane changing after intersection and/or turning tier4/autoware.universe#1226

Merged

4 tasks

zulfaqar-azmi-t4 mentioned this pull request Apr 10, 2024

fix(lane_change): cherry pick small fixes tier4/autoware.universe#1241

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4 tasks

zulfaqar-azmi-t4 deleted the fix-lc-collision-check-in-turns branch June 18, 2024 05:53

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feat(lane_change): check prepare phase in turn direction lanes #6726

feat(lane_change): check prepare phase in turn direction lanes #6726

zulfaqar-azmi-t4 commented Apr 2, 2024 •

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feat(lane_change): check prepare phase in turn direction lanes #6726

feat(lane_change): check prepare phase in turn direction lanes #6726

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zulfaqar-azmi-t4 commented Apr 2, 2024 • edited Loading

Description

Before PR

After PR

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

shmpwk commented Apr 3, 2024

codecov bot commented Apr 3, 2024 • edited Loading

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zulfaqar-azmi-t4 commented Apr 2, 2024 •

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