fix(lane_change): enable cancel when ego in turn direction lane #9124

zulfaqar-azmi-t4 · 2024-10-21T07:29:24Z

Description

When performing a lane change after an intersection, nearby vehicle might attempt to overtake the ego vehicle. Although simulations may suggest the maneuver is safe, real world testing shows it can feel unsafe. This is particularly true in intersections, where surrounding vehicle often exhibits significant speed variations and unpredictable behavior.

The image below illustrates such a scenario.

In this situation, rear vehicle may either stop abruptly or accelerate suddenly, making it challenging for the safety check to produce reliable result.

This PR addresses the issue by making the lane change module adopt a more conservative approach near intersection.

If the ego vehicle is within an intersection and currently in a turn lane, the lane change module will output an invalid path.

Additionally, if the ego vehicle has just exited the turn lane of an intersection and its distance from the intersection is within the backward_length_from_intersection, the lane change will also be marked as invalid.

The module also monitors objects behind the ego vehicle. If their highest-confidence predicted path overlaps with the target lanes, the lane change path will be cancelled.

Result after PR

⚠️ Required launcher PR: autowarefoundation/autoware_launch#1209

How was this PR tested?

PSIM

Videos: TIER IV internal link

TIER IV internal link

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	`backward_length_from_intersection`	`double`	`5.0`	Distance threshold from the last intersection to invalidate or cancel the lane change path

Effects on system behavior

Any lane change path will be invalid if ego vehicle is in intersection's turn direction lane.

github-actions · 2024-10-21T07:29:42Z

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

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

mkquda · 2024-11-07T01:07:32Z

...or_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp

 *
 * @return Polygon2d A polygon representing the current 2D footprint of the ego vehicle.
 */
-Polygon2d getEgoCurrentFootprint(const Pose & ego_pose, const VehicleInfo & ego_info);
+Polygon2d get_ego_current_polygon(const CommonDataPtr & common_data_ptr);


I think its more useful to keep it as
Polygon2d get_ego_footprint(const Pose & ego_pose, const VehicleInfo & ego_info)
so it can be used to get the footprint at any given pose not just current pose

fixed in 1764376

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

github-actions · 2024-11-07T01:35:16Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9124/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-9124/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/

mkquda

LGTM. but seems there is some degradation in evaluator

codecov · 2024-11-07T01:53:36Z

Codecov Report

Attention: Patch coverage is 29.87013% with 54 lines in your changes missing coverage. Please review.

Project coverage is 29.03%. Comparing base (fff8786) to head (1764376).
Report is 15 commits behind head on main.

Files with missing lines	Patch %	Lines
...havior_path_lane_change_module/src/utils/utils.cpp	20.00%	25 Missing and 3 partials ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	35.00%	23 Missing and 3 partials ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #9124   +/-   ##
=======================================
  Coverage   29.02%   29.03%           
=======================================
  Files        1325     1326    +1     
  Lines      102579   102668   +89     
  Branches    39783    39809   +26     
=======================================
+ Hits        29778    29812   +34     
- Misses      69933    69980   +47     
- Partials     2868     2876    +8

Flag	Coverage Δ		*Carryforward flag
differential	`19.97% <29.87%> (?)`
total	`29.03% <ø> (+<0.01%)`	⬆️	Carriedforward from fff8786

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zulfaqar-azmi-t4 · 2024-11-07T02:45:28Z

@mkquda
The failures are not related to lane change, and when compared with today's base line scenario, the failed scenarios are removed from catalogue.

* chore: update CODEOWNERS (#9203) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> * refactor(time_utils): prefix package and namespace with autoware (#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(rtc_interface): add requested field (#9202) * add requested feature Signed-off-by: Go Sakayori <gsakayori@gmail.com> * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (#9199) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(bpp): prevent accessing nullopt (#9204) fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: grouping parameters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: separate util functions Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp * Apply suggestions from code review * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added Copyright Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed cast style Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed honorific title Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed honorific title Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added cspell:ignore Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed miss spell Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Renamed applyFilter Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to pass by reference Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_test_utils): add traffic light msgs parser (#9177) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(rtc_interface): update requested field for every cooperateStatus state (#9211) * fix rtc_interface Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix test condition Signed-off-by: Go Sakayori <gsakayori@gmail.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> * feat(static_obstacle_avoidance): operator request for ambiguous vehicle (#9205) * add operator request feature Signed-off-by: Go Sakayori <gsakayori@gmail.com> * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * feat(collision_detector): use polling subscriber (#9213) use polling subscriber Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix(diagnostic_graph_utils): reset graph when new one is received (#9208) fix(diagnostic_graph_utils): reset graph when new one is reveived Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (#9218) Reduced initial_pose_estimation.particles_num from 200 to 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bugprone-misplaced-widening-cast (#9226) * fix: bugprone-misplaced-widening-cast Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix: clang-format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (#9196) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * refactor(component_interface_utils): prefix package and namespace with autoware (#9092) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (#9189) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (#9230) fix: bugprone-unused-raii Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor(map_based_prediction): divide objectsCallback (#9219) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * 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of int Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * add const as much as possible and use `at()` in `vector` Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * fix directory name Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * refactor code and add example Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * remove unused include Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * refactor code Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * add clone function Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * fix stairstep Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * make constructor to public Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * feat(autoware_motion_utils): add trajectory class Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * Update CMakeLists.txt * fix Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * fix package.xml Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update crop Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * revert crtp change Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update package.xml Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * updating... Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * solve build problem Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (#9233) chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(autoware_test_utils): add general topic dumper (#9207) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(autoware_ekf_localizer): remove `timer_tf_` (#9244) Removed timer_tf_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * fix(autoware_rtc_interface): fix dependency (#9237) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(autonomous_emergency_braking): solve issue with arc length (#9247) * solve issue with arc length Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix problem with points one vehicle apart from path Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (#9195) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (#9190) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * refactor(qp_interface): prefix package and namespace with autoware (#9236) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * chore(autoware_geography_utils): update maintainers (#9246) * update maintainers Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * add author Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> --------- Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> * fix(lane_change): enable cancel when ego in turn direction lane (#9124) * RT0-33893 add checks from prev intersection Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix shadow variable Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix logic Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update readme Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactor get_ego_footprint Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix(out_of_lane): correct calculations of the stop pose (#9209) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (#8129) * feat: fix launch file Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix spell error Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: fix parameters file name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * chore: remove filter base Signed-off-by: vividf <yihsiang.fang@tier4.jp> --------- Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix: missing dependency in common components (#9072) * feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (#9253) * create trajectory container package Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * style(pre-commit): autofix * update codeowner Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * update Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * fix cmake Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> --------- Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (#9258) fix: fix the wrong file name Signed-off-by: vividf <yihsiang.fang@tier4.jp> * fix(dummy_diag_publisher): not use diagnostic_updater and param callback (#9257) * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (#1414) fix(dummy_diag_publisher): not use diagnostic_updater and param callback Co-authored-by: h-ohta <hiroki.ota@tier4.jp> * fix: resolve build error of dummy diag publisher (#1415) fix merge conflict --------- Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> * test(behavior_path_planner_common): add unit test for path shifter (#9239) * add unit test for path shifter Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix unnecessary modification Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix spelling mistake Signed-off-by: Go Sakayori <gsakayori@gmail.com> * add docstring Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * feat(system_monitor): support loopback network interface (#9067) * feat(system_monitor): support loopback network interface Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_trajectory): change interface of InterpolatedArray (#9264) change interface of InterpolateArray Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * feat(system_monitor): add on/off config for network traffic monitor (#9069) * feat(system_monitor): add config for network traffic monitor Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> * fix: change function name from stop to skip Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> --------- Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> * feat(detection_area)!: add retruction feature (#9255) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * fix(vehicle_cmd_gate): fix processing time measurement (#9260) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(bvp): use polling subscriber (#9242) * fix(bvp): use polling subscriber Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix: use newest policy Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(lane_change): remove std::optional from lanes polygon (#9267) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix(bpp): prevent accessing nullopt (#9269) Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * refactor(lane_change): revert "remove std::optional from lanes polygon" (#9272) Revert "refactor(lane_change): remove std::optional from lanes polygon (#9267)" This reverts commit 0c70ea8. * feat(goal_planner): sort candidate path only when num to avoid is different (#9271) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (#9274) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (#9277) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (#9275) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * fix(autoware_pure_pursuit): fix cppcheck unusedFunction (#9276) Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * fix(lane_change): correct computation of maximum lane changing length threshold (#9279) fix computation of maximum lane changing length threshold Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * feat(aeb): set global param to override autoware state check (#9263) * set global param to override autoware state check Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change variable to be more general Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add comment Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * move param to control component launch Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * change param name to be more straightforward Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (#9273) feat(planning): add new steering factor topics for obstacle avoidance and lane changes Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * chore(package.xml): bump version to 0.38.0 (#9266) (#9284) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (#9268) * RT1-8427 extending lc path for multiple lc Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * fix(behavior_path_planner_common): use boost intersects instead of overlaps (#9289) * fix(behavior_path_planner_common): use boost intersects instead of overlaps Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> * ci(.github): update image tags (#9286) * refactor(autoware_ad_api_specs): prefix package and namespace with autoware (#9250) * refactor(autoware_ad_api_specs): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * style(pre-commit): autofix * chore(autoware_adapi_specs): rename ad_api to adapi Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * chore(autoware_adapi_specs): rename ad_api to adapi Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> --------- Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore(autoware_traffic_light*): add maintainer (#9280) * add fundamental commit Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * add forgot package Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> --------- Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (#9224) * fix: bugprone-misplaced-widening-cast Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix: consider negative values Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix(autoware_detected_object_validation): fix clang-diagnostic-error (#9215) fix: clang-c-error Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (#9220) fix: bugprone-incorrect-roundings Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (#9290) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * refactor(lane_change): remove std::optional from lanes polygon (#9288) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180) * first commit Signed-off-by: xtk8532704 <1041084556@qq.com> * fix building errs. Signed-off-by: xtk8532704 <1041084556@qq.com> * change diagnostic messages to metric messages for publishing decision. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix bug about motion_velocity_planner Signed-off-by: xtk8532704 <1041084556@qq.com> * change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner. Signed-off-by: xtk8532704 <1041084556@qq.com> * tmp save for planning_evaluator Signed-off-by: xtk8532704 <1041084556@qq.com> * change the topic to which metrics published to. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix typo. Signed-off-by: xtk8532704 <1041084556@qq.com> * remove unnesessary publishing of metrics. Signed-off-by: xtk8532704 <1041084556@qq.com> * mke planning_evaluator publish msg of MetricArray instead of Diags. Signed-off-by: xtk8532704 <1041084556@qq.com> * update aeb with metric type for decision. Signed-off-by: xtk8532704 <1041084556@qq.com> * fix some bug Signed-off-by: xtk8532704 <1041084556@qq.com> * remove autoware_evaluator_utils package. Signed-off-by: xtk8532704 <1041084556@qq.com> * remove diagnostic_msgs dependency of planning_evaluator Signed-off-by: xtk8532704 <1041084556@qq.com> * use metric_msgs for autoware_processing_time_checker. Signed-off-by: xtk8532704 <1041084556@qq.com> * rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs. Signed-off-by: xtk8532704 <1041084556@qq.com> * pre-commit and fix typo Signed-off-by: xtk8532704 <1041084556@qq.com> * publish metrics even if there is no metric in the MetricArray. Signed-off-by: xtk8532704 <1041084556@qq.com> * modify the metric name of processing_time. Signed-off-by: xtk8532704 <1041084556@qq.com> * update unit test for test_planning/control_evaluator Signed-off-by: xtk8532704 <1041084556@qq.com> * manual pre-commit Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> * feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (#9261) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * chore(tvm_utility): remove tvm_utility package as it is no longer used (#9291) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (#9304) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * perf(autoware_ndt_scan_matcher): remove evecs_, evals_ of Leaf for memory efficiency (#9281) * fix(lane_change): correct computation of maximum lane changing length threshold (#9279) fix computation of maximum lane changing length threshold Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Signed-off-by: taisa1 <kento.osa@tier4.jp> * perf: remove evecs, evals from Leaf Signed-off-by: taisa1 <kento.osa@tier4.jp> * perf: remove evecs, evals from Leaf Signed-off-by: taisa1 <kento.osa@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Signed-off-by: taisa1 <kento.osa@tier4.jp> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * test(costmap_generator): unit test implementation for costmap generator (#9149) * modify costmap generator directory structure Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * rename class CostmapGenerator to CostmapGeneratorNode Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * unit test for object_map_utils Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * catch error from lookupTransform Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * use polling subscriber in costmap generator node Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add test for costmap generator node Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add test for isActive() Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * revert unnecessary changes Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * remove commented out line Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * minor fix Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/autoware_costmap_generator/src/costmap_generator.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * fix(control): missing dependency in control components (#9073) * test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (#9307) * update unit test of control_evaluator. Signed-off-by: xtk8532704 <1041084556@qq.com> * manual pre-commit. Signed-off-by: xtk8532704 <1041084556@qq.com> --------- Signed-off-by: xtk8532704 <1041084556@qq.com> * fix(collision_detector): skip process when odometry is not published (#9308) * subscribe odometry Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix precommit Signed-off-by: Go Sakayori <gsakayori@gmail.com> * remove unnecessary log info Signed-off-by: Go Sakayori <gsakayori@gmail.com> --------- Signed-off-by: Go Sakayori <gsakayori@gmail.com> * feat(goal_planner): safety check with only parking path (#9293) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * refactor(goal_planner): remove reference_goal_pose getter/setter (#9270) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * feat(start_planner, lane_departure_checker): speed up by updating polygons (#9309) speed up by updating polygons Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * fix(autoware_trajectory): fix bug of autoware_trajectory (#9314) Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * feat(autoware_trajectory): change default value of min_points (#9315) Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> * chore(codecov): update maintained packages (#9316) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * doc: fix links to design documents (#9301) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix(costmap_generator): use vehicle frame for lidar height thresholds (#9311) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(tier4_dummy_object_rviz_plugin): fix missing dependency (#9306) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (#9304) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> * add changelog Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * update changelog Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix version Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * 0.39.0 * refactor(map_loader)!: prefix package and namespace with autoware (#8927) * make lanelet2_map_visualization independent Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * remove unused files Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * remove unused package Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * fix package name Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add autoware_ prefix Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add autoware to exec name Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add autoware prefix Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * removed unnecessary dependency Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * update version Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> --------- Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Signed-off-by: Y.Hisaki <yhisaki31@gmail.com> Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Yamato Ando <yamato.ando@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp> Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com> Signed-off-by: taisa1 <kento.osa@tier4.jp> Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: github-actions <github-actions@github.com> Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com> Co-authored-by: Satoshi OTA 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<146902905+vividf@users.noreply.github.com> Co-authored-by: ぐるぐる <f0reach@f0reach.me> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: iwatake <take.iwiw2222@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Giovanni Muhammad Raditya <mraditya01@yahoo.com> Co-authored-by: Masato Saeki <78376491+MasatoSaeki@users.noreply.github.com> Co-authored-by: Kem (TiankuiXian) <1041084556@qq.com> Co-authored-by: Kento Osa <38522559+taisa1@users.noreply.github.com> Co-authored-by: Masaki Baba <maumaumaumaumaumaumaumaumaumau@gmail.com>

…warefoundation#9124) * RT0-33893 add checks from prev intersection Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix shadow variable Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix logic Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * update readme Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactor get_ego_footprint Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 21, 2024

zulfaqar-azmi-t4 force-pushed the RT0-33893-enable-cancel-when-ego-in-turn-direction-lane-main branch from 4f22f06 to 5d04875 Compare October 21, 2024 07:30

zulfaqar-azmi-t4 changed the title ~~Rt0 33893 enable cancel when ego in turn direction lane main~~ fix(lane_change): enable cancel when ego in turn direction lane Oct 21, 2024

zulfaqar-azmi-t4 force-pushed the RT0-33893-enable-cancel-when-ego-in-turn-direction-lane-main branch 3 times, most recently from b1aab21 to 7e9176b Compare October 29, 2024 03:53

RT0-33893 add checks from prev intersection

74f0f93

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

zulfaqar-azmi-t4 force-pushed the RT0-33893-enable-cancel-when-ego-in-turn-direction-lane-main branch from 7e9176b to 74f0f93 Compare November 5, 2024 09:02

fix shadow variable

23faf74

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

zulfaqar-azmi-t4 mentioned this pull request Nov 5, 2024

fix(lane_change): enable cancel when ego in turn direction lane (RT0-33893) tier4/autoware.universe#1594

Merged

fix logic

5cd8d32

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

zulfaqar-azmi-t4 changed the title ~~fix(lane_change): enable cancel when ego in turn direction lane~~ fix(lane_change): enable cancel when ego in turn direction lane (RT0-33893) Nov 6, 2024

zulfaqar-azmi-t4 changed the title ~~fix(lane_change): enable cancel when ego in turn direction lane (RT0-33893)~~ fix(lane_change): enable cancel when ego in turn direction lane Nov 6, 2024

zulfaqar-azmi-t4 marked this pull request as ready for review November 6, 2024 04:56

zulfaqar-azmi-t4 requested review from mkquda, rej55, kosuke55, maxime-clem, satoshi-ota, shmpwk, TomohitoAndo and tkimura4 as code owners November 6, 2024 04:56

update readme

eaeae6f

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

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Nov 6, 2024

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refactor get_ego_footprint

1764376

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

zulfaqar-azmi-t4 added run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Nov 7, 2024

mkquda approved these changes Nov 7, 2024

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zulfaqar-azmi-t4 merged commit 663fe98 into autowarefoundation:main Nov 7, 2024
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zulfaqar-azmi-t4 deleted the RT0-33893-enable-cancel-when-ego-in-turn-direction-lane-main branch November 7, 2024 02:48

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fix(lane_change): enable cancel when ego in turn direction lane #9124

fix(lane_change): enable cancel when ego in turn direction lane #9124

zulfaqar-azmi-t4 commented Oct 21, 2024 •

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zulfaqar-azmi-t4 commented Nov 7, 2024

fix(lane_change): enable cancel when ego in turn direction lane #9124

fix(lane_change): enable cancel when ego in turn direction lane #9124

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zulfaqar-azmi-t4 commented Oct 21, 2024 • edited Loading

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Interface changes

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