fix(lane_change): modify lane change requested condition #8510

zulfaqar-azmi-t4 · 2024-08-16T11:49:04Z

Description

Currently lane change module with request execution as soon as target lane is found.
Even when target lane is 200 meters away, lane change will transition to WAITING_APPROVAL state. Example is shown below (note the planner manager status)

beforePR.mp4

This doesn't make sense anyway, since lane change path will be trigger only when the end of prepare phase is within target lane's neighbor. Therefore in this PR, the execution condition is changed and lane change will only be requested if ego distance to the start of target lane is less than maximum prepare length. Example after PR is shown below (note the planner manager status)

afterPR.mp4

How was this PR tested?

PSIM

Evaluator result TIER IV Internal Link

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-08-16T11:49:21Z

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

You've checked our contribution guidelines.
Your PR follows our pull request guidelines.
All required CI checks pass before marking the PR ready for review.

...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp

...h_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp

codecov · 2024-08-21T11:59:10Z

Codecov Report

Attention: Patch coverage is 5.26316% with 18 lines in your changes missing coverage. Please review.

Project coverage is 23.94%. Comparing base (a7db560) to head (1a1207e).
Report is 3 commits behind head on main.

Files	Patch %	Lines
..._path_lane_change_module/src/utils/calculation.cpp	0.00%	14 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	20.00%	3 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8510      +/-   ##
==========================================
- Coverage   23.96%   23.94%   -0.02%     
==========================================
  Files        1382     1383       +1     
  Lines      102019   102083      +64     
  Branches    38886    38895       +9     
==========================================
- Hits        24446    24441       -5     
- Misses      75141    75213      +72     
+ Partials     2432     2429       -3

Flag	Coverage Δ		*Carryforward flag
differential	`15.49% <5.26%> (?)`
total	`23.95% <ø> (-0.01%)`	⬇️	Carriedforward from a7db560

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

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

…nge_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>

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

…ndation#8510) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…ndation#8510) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: kotaro-hihara <kotaro.hihara@tier4.jp>

…ndation#8510) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…ndation#8510) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: kotaro-hihara <kotaro.hihara@tier4.jp>

fix(lane_change): modify lane change requested condition (autowarefoundation#8510)

…ndation#8510) (#1504) * modify lane change requested condition * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp * style(pre-commit): autofix * fix docstring --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…ndation#8510) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: kotaro-hihara <kotaro.hihara@tier4.jp>

zulfaqar-azmi-t4 requested review from mkquda, rej55, kosuke55, maxime-clem, satoshi-ota, shmpwk, TomohitoAndo and tkimura4 as code owners August 16, 2024 11:49

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

zulfaqar-azmi-t4 force-pushed the fix-lc-when-target-within-prepare branch 4 times, most recently from d0f7d77 to 2e2e580 Compare August 21, 2024 06:24

mkquda reviewed Aug 21, 2024

View reviewed changes

...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Outdated Show resolved Hide resolved

mkquda reviewed Aug 21, 2024

View reviewed changes

...h_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp Outdated Show resolved Hide resolved

maxime-clem added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 21, 2024

mkquda approved these changes Aug 21, 2024

View reviewed changes

zulfaqar-azmi-t4 force-pushed the fix-lc-when-target-within-prepare branch from 68beab3 to b7fd3f9 Compare August 22, 2024 01:15

zulfaqar-azmi-t4 and others added 4 commits August 22, 2024 10:56

modify lane change requested condition

7244db4

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

Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…

be36f5f

…nge_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>

style(pre-commit): autofix

ef47cca

fix docstring

1a1207e

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

zulfaqar-azmi-t4 force-pushed the fix-lc-when-target-within-prepare branch from b7fd3f9 to 1a1207e Compare August 22, 2024 01:56

zulfaqar-azmi-t4 merged commit d87301c into autowarefoundation:main Aug 22, 2024
31 of 32 checks passed

zulfaqar-azmi-t4 deleted the fix-lc-when-target-within-prepare branch August 22, 2024 04:23

kotaro-hihara added a commit to tier4/autoware.universe that referenced this pull request Sep 3, 2024

Merge pull request #1500 from tier4/fix/beta/v0.29.0-1/lc_condition

d3e1f88

fix(lane_change): modify lane change requested condition (autowarefoundation#8510)

kotaro-hihara mentioned this pull request Sep 3, 2024

fix(lane_change): modify lane change requested condition (#8510) tier4/autoware.universe#1500

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

fix(lane_change): modify lane change requested condition #8510

fix(lane_change): modify lane change requested condition #8510

zulfaqar-azmi-t4 commented Aug 16, 2024 •

edited

Loading

github-actions bot commented Aug 16, 2024 •

edited

Loading

codecov bot commented Aug 21, 2024 •

edited

Loading

fix(lane_change): modify lane change requested condition #8510

fix(lane_change): modify lane change requested condition #8510

Conversation

zulfaqar-azmi-t4 commented Aug 16, 2024 • edited Loading

Description

Related links

How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

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

codecov bot commented Aug 21, 2024 • edited Loading

Codecov Report

zulfaqar-azmi-t4 commented Aug 16, 2024 •

edited

Loading

github-actions bot commented Aug 16, 2024 •

edited

Loading

codecov bot commented Aug 21, 2024 •

edited

Loading