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feat(out_of_lane): consider "critical" decisions and make them more stable #975

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wants to merge 13 commits into from
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feat(out_of_lane): consider "critical" decisions and make them more stable #975

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maxime-clem
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Description

  • Reuse previous path for more stability.
  • Consider "critical" overlaps where there is no space to fit ego + the dynamic object.
  • Prioritize stopping at the critical overlaps, even if another non-critical overlap precedes it.

Tests performed

Psim.

Effects on system behavior

More stable out_of_lane decisions.

Pre-review checklist for the PR author

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In-review checklist for the PR reviewers

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Post-review checklist for the PR author

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  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

@maxime-clem
Move filtering of low velocity obstacles to filtering function
68c14ac 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
[TMP] run behavior_velocity_planner with gdb launch prefix
65086d1 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
[DEBUG] set debug log for the out_of_lane module
4c017d4 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
Refactor range+decisions and consider "critical" overlaps
485b8f8 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
Ignore a lane if we already overlap it
fce3693 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
Ignore already overlapped lanelets+their immediate predecessor/successor
4817027 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
Do not directly reuse a prev stop point but project it on the new path
cec5b2c 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
Improve reuse of the previously inserted stop point
029d521 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
reuse previous path points
b6fe3f2 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
Fix precision of inserted stop point
c18007d 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@maxime-clem
Revert "[DEBUG] set debug log for the out_of_lane module"
5647394 
This reverts commit 4c017d4.
@maxime-clem
Revert "[TMP] run behavior_velocity_planner with gdb launch prefix"
1d959d1 
This reverts commit 65086d1.
@maxime-clem
Remove debug print
c5f44da 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
@takayuki5168 takayuki5168 marked this pull request as draft October 31, 2023 01:11
@maxime-clem maxime-clem deleted the feat/out_of_lane-furthest_stop_point branch June 28, 2024 05:39
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Reviewers

@shmpwk shmpwk Awaiting requested review from shmpwk

@takayuki5168 takayuki5168 Awaiting requested review from takayuki5168

@tkimura4 tkimura4 Awaiting requested review from tkimura4

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@maxime-clem @takayuki5168