fix(avoidance): don't insert stop line if the ego can't avoid or return #9089

satoshi-ota · 2024-10-16T01:09:59Z

Description

Sometimes, the avoidance module inserted stop point even when the ego overran the dead line to avoid/return manuever.
In this PR, I fixed logic not to insert stop point if the ego exceeds stop line in order to prevent stuck.

Additionally, I fixed not to insert stop point on dead line for return maneuver if it's in following condition:

there is no new shift line.
return shift line is NOT feasible.

How was this PR tested?

movie-2024-10-16_09.23.32.mp4

PASS TIER IV INTERNAL SCENARIOS

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-10-16T01:10:18Z

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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

..._avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp

…bstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>

codecov · 2024-10-17T23:26:57Z

Codecov Report

Attention: Patch coverage is 0% with 22 lines in your changes missing coverage. Please review.

Project coverage is 27.39%. Comparing base (a3c7ede) to head (e678ffe).
Report is 6 commits behind head on main.

Files with missing lines	Patch %	Lines
...ath_static_obstacle_avoidance_module/src/scene.cpp	0.00%	12 Missing ⚠️
...r_path_static_obstacle_avoidance_module/helper.hpp	0.00%	10 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9089      +/-   ##
==========================================
+ Coverage   27.37%   27.39%   +0.01%     
==========================================
  Files        1302     1303       +1     
  Lines       95845    96043     +198     
  Branches    39146    39158      +12     
==========================================
+ Hits        26238    26308      +70     
- Misses      66925    67054     +129     
+ Partials     2682     2681       -1

Flag	Coverage Δ		*Carryforward flag
differential	`20.07% <0.00%> (?)`
total	`27.37% <ø> (ø)`		Carriedforward from a3c7ede

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

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…rn (autowarefoundation#9089) * fix(avoidance): don't insert stop line if the ego can't avoid or return Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: build error Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>

…rn (autowarefoundation#9089) (#1592) * fix(avoidance): don't insert stop line if the ego can't avoid or return (autowarefoundation#9089) * fix(avoidance): don't insert stop line if the ego can't avoid or return Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: build error Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> * fix: build error Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>

…rn (autowarefoundation#9089) (autowarefoundation#1592) * fix(avoidance): don't insert stop line if the ego can't avoid or return (autowarefoundation#9089) * fix(avoidance): don't insert stop line if the ego can't avoid or return Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: build error Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> * fix: build error Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 16, 2024

satoshi-ota added 2 commits October 16, 2024 11:39

fix(avoidance): don't insert stop line if the ego can't avoid or return

5419ce7

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

fix: build error

ad560eb

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota force-pushed the fix/rt0-33610 branch from 2beb16a to ad560eb Compare October 16, 2024 02:53

satoshi-ota assigned go-sakayori Oct 16, 2024

satoshi-ota marked this pull request as ready for review October 16, 2024 10:02

satoshi-ota requested review from rej55, go-sakayori, kyoichi-sugahara, shmpwk, TakaHoribe, TomohitoAndo, tkimura4 and zulfaqar-azmi-t4 as code owners October 16, 2024 10:02

go-sakayori reviewed Oct 17, 2024

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..._avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Outdated Show resolved Hide resolved

go-sakayori approved these changes Oct 17, 2024

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Update planning/behavior_path_planner/autoware_behavior_path_static_o…

e678ffe

…bstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>

satoshi-ota added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 17, 2024

satoshi-ota enabled auto-merge (squash) October 17, 2024 23:20

satoshi-ota merged commit 92868c0 into autowarefoundation:main Oct 17, 2024
35 of 36 checks passed

satoshi-ota deleted the fix/rt0-33610 branch October 17, 2024 23:26

satoshi-ota mentioned this pull request Oct 18, 2024

fix(avoidance): don't insert stop line if the ego can't avoid or return (#9089) tier4/autoware.universe#1592

Merged

satoshi-ota mentioned this pull request Oct 23, 2024

fix(static_obstacle_avoidance): suppress unnecessary warning #9142

Merged

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fix(avoidance): don't insert stop line if the ego can't avoid or return #9089

fix(avoidance): don't insert stop line if the ego can't avoid or return #9089

satoshi-ota commented Oct 16, 2024 •

edited

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github-actions bot commented Oct 16, 2024 •

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codecov bot commented Oct 17, 2024

fix(avoidance): don't insert stop line if the ego can't avoid or return #9089

fix(avoidance): don't insert stop line if the ego can't avoid or return #9089

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satoshi-ota commented Oct 16, 2024 • edited Loading

Description

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How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

github-actions bot commented Oct 16, 2024 • edited Loading

codecov bot commented Oct 17, 2024

Codecov Report

satoshi-ota commented Oct 16, 2024 •

edited

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github-actions bot commented Oct 16, 2024 •

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