fix(start_planner): issue when ego does not straddle lane bounds and starts from 0 speed #7004
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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
soblin
requested changes
May 14, 2024
| if ( | ||
| planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS && | ||
| status_.driving_forward && !status_.first_engaged_and_driving_forward_time) { | ||
| status_.driving_forward && !status_.first_engaged_and_driving_forward_time && |
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Can you keep this condition as before, and
| const bool override_ego_stopped_check = std::invoke([&]() { | ||
| if (!status_.first_engaged_and_driving_forward_time) { |
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and change this condition to needToPrepareBlinkerBeforeStratDrivingForward() or (ego_velocity > moving_velocity_threshold) ?
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@soblin I cannot check the current speed, I need a check that tells me if at some point in the PAST the ego has moved faster than the threshold speed. So this approach cannot work.
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
soblin
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May 15, 2024
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…starts from 0 speed (autowarefoundation#7004) * fix issue when ego does not straddle lane bounds and starts from 0 speed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add new status for ego departed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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#1299) fix(start_planner): issue when ego does not straddle lane bounds and starts from 0 speed (autowarefoundation#7004) * fix issue when ego does not straddle lane bounds and starts from 0 speed * add new status for ego departed --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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…starts from 0 speed (autowarefoundation#7004) * fix issue when ego does not straddle lane bounds and starts from 0 speed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add new status for ego departed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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…starts from 0 speed (autowarefoundation#7004) * fix issue when ego does not straddle lane bounds and starts from 0 speed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add new status for ego departed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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…starts from 0 speed (autowarefoundation#7004) * fix issue when ego does not straddle lane bounds and starts from 0 speed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add new status for ego departed Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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Description
When the ego vehicle is starting from a road and not the shoulder lane, it is possible that the blinkers are not properly activated.
This is caused by 2 things:
To solve the issue I added an override for the first check if the ego is doing a pullout, and for the second issue I slightly modified the variable
status_.first_engaged_and_driving_forward_timeto only be initialized when the ego vehicle has surpassed a minimum threshold velocity.Related links
Ticket: TIER IV COMPANY INTERNAL LINK
Tests performed
PSim
cap-.2024-05-14-11-41-18.mp4
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
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