feat(lane_change): reduce prepare duration when blinker has been activated #9185
+123
−32
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
…blinker-has-been-activated
…blinker-has-been-activated
github-actions
bot
added
type:documentation
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
…blinker-has-been-activated
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <[email protected]>
…owarefoundation#9173) * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <[email protected]> * refactor(time_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* add requested feature Signed-off-by: Go Sakayori <[email protected]> * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]> Co-authored-by: Satoshi OTA <[email protected]>
…ws (autowarefoundation#9199) Signed-off-by: Maxime CLEMENT <[email protected]>
fix(bpp): calcDistanceToRedTrafficLight null Signed-off-by: Shumpei Wakabayashi <[email protected]>
… predictor (autowarefoundation#9201) * refactor: grouping functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: grouping parameters Signed-off-by: Taekjin LEE <[email protected]> * refactor: rename member road_users_history to road_users_history_ Signed-off-by: Taekjin LEE <[email protected]> * refactor: separate util functions Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add explicit template instantiation for removeOldObjectsHistory function Signed-off-by: Taekjin LEE <[email protected]> * refactor: Add tf2_geometry_msgs to data_structure Signed-off-by: Taekjin LEE <[email protected]> * refactor: Remove unused variables and functions in map_based_prediction_node.cpp Signed-off-by: Taekjin LEE <[email protected]> * 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 <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…er (autowarefoundation#8912) * Moved ndt_omp into ndt_scan_matcher Signed-off-by: Shintaro Sakoda <[email protected]> * Added Copyright Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed cast style Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed honorific title Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed hierarchy Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed NVTP to NVTL Signed-off-by: Shintaro Sakoda <[email protected]> * Added cspell:ignore Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed miss spell Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed include Signed-off-by: Shintaro Sakoda <[email protected]> * Renamed applyFilter Signed-off-by: Shintaro Sakoda <[email protected]> * Moved ***_impl.hpp from include/ to src/ Signed-off-by: Shintaro Sakoda <[email protected]> * style(pre-commit): autofix * Fixed variable scope Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to pass by reference Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ndation#9177) Signed-off-by: Mamoru Sobue <[email protected]>
…blinker-has-been-activated
github-actions
bot
added
component:perception
…transient data Signed-off-by: mohammad alqudah <[email protected]>
…blinker-has-been-activated
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
Outdated
Show resolved
Hide resolved
...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp
Outdated
Show resolved
Hide resolved
...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp
Show resolved
Hide resolved
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
Outdated
Show resolved
Hide resolved
…blinker-has-been-activated
4 tasks
…-prepare-duration-when-blinker-has-been-activated
…nge_module/src/utils/utils.cpp Co-authored-by: Zulfaqar Azmi <[email protected]>
…blinker-has-been-activated Signed-off-by: mohammad alqudah <[email protected]>
…blinker-has-been-activated Signed-off-by: mohammad alqudah <[email protected]>
…n calc_actual_prepare_duration Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
…blinker-has-been-activated Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: tomoya.kimura <[email protected]>
…blinker-has-been-activated
github-actions
bot
added
the
type:ci
Signed-off-by: tomoya.kimura <[email protected]>
…blinker-has-been-activated
Signed-off-by: tomoya.kimura <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
…blinker-has-been-activated
Signed-off-by: mohammad alqudah <[email protected]>
…blinker-has-been-activated
maxime-clem
reviewed
Dec 2, 2024
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
Outdated
Show resolved
Hide resolved
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
Show resolved
Hide resolved
...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp
Show resolved
Hide resolved
Signed-off-by: mohammad alqudah <[email protected]>
Comment on lines
+390
to
+394
| const auto & params = common_data_ptr->lc_param_ptr->trajectory; | ||
| const auto lane_changing_acc = common_data_ptr->transient_data.is_ego_near_current_terminal_start | ||
| ? prepare_longitudinal_acc * params.lane_changing_decel_factor | ||
| : 0.0; | ||
| return lane_changing_acc; |
There was a problem hiding this comment.
I think it might be better to either
- separate this into another PR, and merge the PR together with this PR to ensure no degradation, or
- renaming this PR to something other.
I prefer the first, as it is more proper. I understand that the fix is introduced due to scenario degradation, but the reason for adding acceleration related fix into blinker's PR seems a little vague.
It also save us a little trouble when cherry-picking things.
There was a problem hiding this comment.
maxime-clem
approved these changes
Dec 3, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Currently, a constant prepare duration (parameterized) is being used when generating LC path candidates, this was necessary because until recently turn signal was activated only after LC path was approved.
However, LC turn signal logic was recently changed to activate as soon as we have the intention to change lanes (i.e: when LC module is run). Therefore it is no longer necessary to have a constant long prepare duration, and we can reduce the prepare duration as the turn signal on duration increases.
Changes
signal_activation_time_toLaneChangeBaseclasslane_change_prepare_durationtoTransientDatastructcalc_actual_prepare_durationto calculate actual needed prepare duration based on current velocity and signal on durationupdate_transient_datato setlane_change_prepare_durationRelated links
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
ROS Parameter Changes
Additions and removals
min_prepare_durationdouble1.0lane_changing_decel_factordouble0.5Modifications
prepare_durationdouble4.0max_prepare_durationdouble4.0Effects on system behavior
When LC module activates, initially prepare duration will be max, as signal activation duration increases, prepare duration will be gradually reduced to minimum, allowing a shorter LC path to be found.