feat(behavior_velocity_planner): keep stopping in hold stop margin distance #1433

satoshi-ota · 2022-07-26T06:57:40Z

Description

Now, this ego always try to stop at the stop position by re-starting (re-approach) even if the ego is stopped near the planned stop position in the module. On the other hand, if the stopping performance of the vehicle is poor (e.g. it cannot stop for one meter) and once it starts traveling, there is a possibility that the vehicle may over the stop position, in which case there may be a issue for the vehicle to continue stopping on the spot, if the distance between the ego and stop position is closer than threshold.

So, in this PR, I fixed following points.

add new param hold_stop_margin_distance (default: 2.0 [m])
if the following condisions are satisfied, the ego keep stopping at current position.

condition 1. the ego has stopped
condition 2. the distance between the ego and stop point is shorter than hold_stop_margin_distance

test perform (hold_stop_margin_distance = 2.0 [m])

simplescreenrecorder-2022-07-26_15.40.24.mp4

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satoshi-ota · 2022-07-26T07:04:33Z

Scenario test executing now...

https://evaluation.tier4.jp/evaluation/reports/1d72bd1e-0212-5433-9698-f6f80d8b8eb5?project_id=prd_jt

codecov · 2022-07-26T07:40:41Z

Codecov Report

Merging #1433 (8abc58a) into main (5571338) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1433      +/-   ##
==========================================
- Coverage   10.27%   10.24%   -0.04%     
==========================================
  Files        1118     1119       +1     
  Lines       77581    77863     +282     
  Branches    17854    18064     +210     
==========================================
  Hits         7974     7974              
- Misses      62122    62378     +256     
- Partials     7485     7511      +26

Flag	Coverage Δ		*Carryforward flag
differential	`4.81% <0.00%> (?)`
total	`10.26% <0.00%> (ø)`		Carriedforward from 5571338

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

Impacted Files	Coverage Δ
...planner/include/scene_module/stop_line/manager.hpp	`0.00% <ø> (ø)`
...y_planner/include/scene_module/stop_line/scene.hpp	`0.00% <ø> (ø)`
...ocity_planner/src/scene_module/stop_line/debug.cpp	`0.00% <0.00%> (ø)`
...ity_planner/src/scene_module/stop_line/manager.cpp	`0.00% <0.00%> (ø)`
...ocity_planner/src/scene_module/stop_line/scene.cpp	`0.00% <0.00%> (ø)`
...vior_velocity_planner/include/utilization/util.hpp	`0.00% <0.00%> (ø)`
... and 2 more

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satoshi-ota · 2022-07-29T01:45:26Z

@TakaHoribe ~~I confirmed that there is no critical degradation in this PR by evaluator.~~

This PR: https://evaluation.tier4.jp/evaluation/reports/1d72bd1e-0212-5433-9698-f6f80d8b8eb5?project_id=prd_jt (666/752)
Baseline: https://evaluation.tier4.jp/evaluation/reports/822bf00c-c113-57ea-b82a-aef251801a4d?project_id=prd_jt (677/752)

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

satoshi-ota · 2022-08-03T03:00:49Z

This PR: https://evaluation.tier4.jp/evaluation/reports/897350f4-9af8-5303-b0d2-8f1bd4046738?project_id=prd_jt (695/768)
Baseline: https://evaluation.tier4.jp/evaluation/reports/ddd34bcc-0fb6-5ea8-8844-0a4961745f5f?project_id=prd_jt (700/768)

TakaHoribe

LGTM

satoshi-ota · 2022-08-03T03:28:10Z

simplescreenrecorder-2022-08-03_12.26.16.mp4

tempolaty use following param for test perform

stop_duration_sec: 5.0 [s]
hold_stop_margin_distance: 5.0 [m]

…argin distance (autowarefoundation#1433)" This reverts commit e7dfa19. Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…distance (autowarefoundation#1433) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…distance (#1433) (#1645) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…stance (tier4#1433) * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): add hold stop margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bahevior_velocity_planner): clean up Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use common function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…distance (tier4#1433) (tier4#1645) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…stance (tier4#1433) * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): add hold stop margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bahevior_velocity_planner): clean up Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use common function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…distance (tier4#1433) (tier4#1645) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…stance (tier4#1433) * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): add hold stop margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bahevior_velocity_planner): clean up Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use common function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…distance (tier4#1433) (tier4#1645) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…stance (autowarefoundation#1433) * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): add hold stop margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bahevior_velocity_planner): clean up Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use common function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…distance (autowarefoundation#1433) (autowarefoundation#1645) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…stance (tier4#1433) * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): add hold stop margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bahevior_velocity_planner): clean up Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use common function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…distance (tier4#1433) (tier4#1645) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…essing time (autowarefoundation#8240) (autowarefoundation#1433) * add local r-tree for fast searching change to _func__ add more debug use local rtree fix tmp update fix bug clean unused clean up * clean up * style(pre-commit): autofix * chore: Optimize object filtering and improve performance The code changes in `lanelet_filter.cpp` optimize the object filtering process by using the `empty()` function instead of checking the size of the `transformed_objects.objects` vector. This change improves performance and simplifies the code logic. Refactor the code to use `empty()` instead of `size()` for checking if the `transformed_objects.objects` vector is empty. This change improves readability and performance. --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

satoshi-ota requested review from h-ohta and TakaHoribe July 26, 2022 06:57

satoshi-ota changed the title ~~fix(behavior_velocity_planner): keep stopping in hold stop margin distance~~ feat(behavior_velocity_planner): keep stopping in hold stop margin distance Jul 26, 2022

satoshi-ota added 6 commits July 29, 2022 13:53

fix(behavior_velocity_planner): use alias

83d7bae

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

fix(behavior_velocity_planner): add hold stop margin

1e82587

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

fix(behavior_velocity_planner): use motion_utils

4807887

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

fix(behavior_velocity_planner): use motion_utils

36a8343

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

fix(bahevior_velocity_planner): clean up

bb6b68e

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

fix(behavior_velocity_planner): use common function

8abc58a

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

satoshi-ota force-pushed the fix/stop-hold-margin-stop-line-module branch from 385ae56 to 8abc58a Compare July 29, 2022 05:23

satoshi-ota mentioned this pull request Jul 29, 2022

feat(planning_launch): add hold stop margin distance tier4/autoware_launch-old#424

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TakaHoribe approved these changes Aug 3, 2022

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satoshi-ota merged commit e7dfa19 into autowarefoundation:main Aug 3, 2022

satoshi-ota deleted the fix/stop-hold-margin-stop-line-module branch August 3, 2022 03:28

tier4-autoware-public-bot bot mentioned this pull request Aug 4, 2022

chore: sync upstream tier4/autoware.universe#88

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satoshi-ota mentioned this pull request Aug 15, 2022

fix(obstacle_stop_planner): fix virtual wall posiiton #1588

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satoshi-ota mentioned this pull request Aug 22, 2022

revert(behavior_velocity_planner): keep stopping in hold stop margin distance (#1433) #1645

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satoshi-ota added a commit to satoshi-ota/autoware.universe that referenced this pull request Aug 22, 2022

revert(behavior_velocity_planner): keep stopping in hold stop margin …

22c6b40

…distance (autowarefoundation#1433) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

taikitanaka3 pushed a commit that referenced this pull request Aug 22, 2022

revert(behavior_velocity_planner): keep stopping in hold stop margin …

6f7db46

…distance (#1433) (#1645) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota mentioned this pull request Aug 22, 2022

feat(behavior_velocity_planner): hold stop margin distance in stop line module #1648

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tier4-autoware-public-bot bot mentioned this pull request Aug 23, 2022

chore: sync upstream tier4/autoware.universe#91

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yn-mrse mentioned this pull request Jun 22, 2023

feat(behavior_velocity_planner): keep stopping in hold stop margin distance (backport #1433) tier4/autoware.universe#607

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feat(behavior_velocity_planner): keep stopping in hold stop margin distance #1433

feat(behavior_velocity_planner): keep stopping in hold stop margin distance #1433

satoshi-ota commented Jul 26, 2022 •

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satoshi-ota commented Aug 3, 2022

feat(behavior_velocity_planner): keep stopping in hold stop margin distance #1433

feat(behavior_velocity_planner): keep stopping in hold stop margin distance #1433

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satoshi-ota commented Jul 26, 2022 • edited Loading

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