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Deal with U-turn and crossing path #1581

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takayuki5168 opened this issue Aug 15, 2022 · 4 comments
Open
3 tasks done

Deal with U-turn and crossing path #1581

takayuki5168 opened this issue Aug 15, 2022 · 4 comments
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component:planning Route planning, decision-making, and navigation. (auto-assigned) status:help-wanted Assistance or contributors needed. status:stale Inactive or outdated issues. (auto-assigned)

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takayuki5168 commented Aug 15, 2022 •
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Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

Currently, Autoware sometimes cannot deal with following U-turns and crossing paths (edge cases), because of nearest index search algorithm.

image
image

TODO
packages or modules which cannot deal with this issue.

  • behavior path planner
    • except for lane_following
  • behavior_velocity_planner
    • except for detection_area, stop_line, virtual_traffic_light
  • pure_pursuit

Purpose

To deal with the upper edge cases, new algorithm for nearest index search should be implemented.

Possible approaches

Implement the new algorithm for nearest index search and replace the previous ones with the new one.

Definition of done

Autoware can deal with the upper edge cases.
This was referenced Aug 15, 2022
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takayuki5168 commented Aug 15, 2022 •
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common
#1396

planning_launch
tier4/autoware_launch#437
#1582

control_launch
tier4/autoware_launch#442

behavior path planner
(only lane_following)
#1686

behavior velocity planner
(only detection_area, stopline, virtual_traffic_light)
#1700

obstacle avoidance planner
#1725

obstacle stop planner
#1552

obsatcle cruise planner (pid based)
#2027

motion_velocity_smoother
#1584

mpc follower, velocity controller
#1590

lane_departure_checker
#1611

@takayuki5168 takayuki5168 mentioned this issue Aug 15, 2022
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@BonoloAWF BonoloAWF added component:planning Route planning, decision-making, and navigation. (auto-assigned) status:help-wanted Assistance or contributors needed. labels Aug 16, 2022
@takayuki5168 takayuki5168 mentioned this issue Aug 17, 2022
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@takayuki5168 takayuki5168 self-assigned this Aug 17, 2022
@takayuki5168 takayuki5168 mentioned this issue Aug 17, 2022
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This was referenced Aug 26, 2022
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@takayuki5168 takayuki5168 mentioned this issue Oct 6, 2022
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@maxime-clem
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@takayuki5168 can we close this issue ?

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takayuki5168 commented Oct 20, 2022 •
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@maxime-clem There is some packages which does not deal with this issue. Therefore, I think this issue should be kept open.
I'll write TODO in the description.

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stale bot commented Dec 19, 2022

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Dec 19, 2022
@yn-mrse yn-mrse mentioned this issue Jun 23, 2023
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kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this issue Oct 16, 2024
@zulfaqar-azmi-t4 @mkquda
fix(lane_change): change stopping logic (RT0-33761) (autowarefoundati…
a7e68a1 
…on#1581)

* RT0-33761 fix lane change stopping logic

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

* copied from awf main tested implementation

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

* doxygen comment

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

* Update planning/behavior_path_lane_change_module/src/utils/utils.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>
saka1-s added a commit to saka1-s/autoware.universe that referenced this issue Nov 9, 2024
@technolojin @zulfaqar-azmi-t4
@xtk8532704 @pre-commit-ci @kyoichi-sugahara @takayuki5168 @maxime-clem @danielsanchezaran @mkquda @saka1-s
fix: predicted path generation logic (autowarefoundation#1610)
46531aa 
* feat(lane_change): cancel hysteresis (autowarefoundation#6288)

* feat(lane_change): cancel hysteresis

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

* Update documentation

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

* fix the explanation of the hysteresis count

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

---------

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

* Add parked parked RSS

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

* support new perception_reproducer

Signed-off-by: temkei.kem <1041084556@qq.com>

* move files

Signed-off-by: temkei.kem <1041084556@qq.com>

* remove old files.

Signed-off-by: temkei.kem <1041084556@qq.com>

* fix pre-commit err

Signed-off-by: temkei.kem <1041084556@qq.com>

* style(pre-commit): autofix

* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (autowarefoundation#1571)

Refactor turn signal decider logic and add support for detecting turn signals in turn lanes

Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

* fix a small bug about perception reproducer

* style(pre-commit): autofix

* feat(out_of_lane): ignore lanelets beyond the last path point (autowarefoundation#1554)

* feat(out_of_lane): ignore lanelets beyond the last path point

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… (autowarefoundation#1574)

feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680)

* add method to ignore target obstacles that cross ego cut lane

* WIP add debug support

* add params and finish debug marker

* change lane to line

* use autoware utils to get the cut line

* simplify code wit calcOffsetPose

* Update readme and eliminate unused code

* update readme

* eliminate unused function

* readme

* comments and readme

* eliminate unused include

* typo

* rename param for consistency

* change lane to line for consistency

* rename for clarity, add brief

* fix indentation

* update description

* lane ->line

* lane -> line

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix(lane_change): change stopping logic (RT0-33761) (autowarefoundation#1581)

* RT0-33761 fix lane change stopping logic

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

* copied from awf main tested implementation

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

* doxygen comment

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

* Update planning/behavior_path_lane_change_module/src/utils/utils.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>

* perf: PR 7237

autowarefoundation#7237

* perf RP8406

autowarefoundation#8406

* perf PR 8416

* perf PR 8427

* perf PR 8413

* tool PR 8456

* perf PR 8461

* perf PR 8388

* perf PR 8467

* perf PR 8471

* perf PR 8490

* perf PR 8751

* chore: fix format

* perf PR 8657

* feat: improve lanelet search logic in getPredictedReferencePath()

* sp develop remove non approved change (autowarefoundation#1611)

Revert "feat: improve lanelet search logic in getPredictedReferencePath()"

This reverts commit 5de95b0.

* feat PR 8811

* fix PR 8973

* feat: improve lanelet search logic in getPredictedReferencePath()

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: temkei.kem <1041084556@qq.com>
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Co-authored-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: temkei.kem <1041084556@qq.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp>
Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
saka1-s added a commit to saka1-s/autoware.universe that referenced this issue Nov 9, 2024
@technolojin @zulfaqar-azmi-t4
@xtk8532704 @pre-commit-ci @kyoichi-sugahara @takayuki5168 @maxime-clem @danielsanchezaran @mkquda @saka1-s
fix: predicted path generation logic (autowarefoundation#1610)
ccad585 
* feat(lane_change): cancel hysteresis (autowarefoundation#6288)

* feat(lane_change): cancel hysteresis

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

* Update documentation

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

* fix the explanation of the hysteresis count

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

---------

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

* Add parked parked RSS

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

* support new perception_reproducer

Signed-off-by: temkei.kem <1041084556@qq.com>

* move files

Signed-off-by: temkei.kem <1041084556@qq.com>

* remove old files.

Signed-off-by: temkei.kem <1041084556@qq.com>

* fix pre-commit err

Signed-off-by: temkei.kem <1041084556@qq.com>

* style(pre-commit): autofix

* feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (autowarefoundation#1571)

Refactor turn signal decider logic and add support for detecting turn signals in turn lanes

Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

* fix a small bug about perception reproducer

* style(pre-commit): autofix

* feat(out_of_lane): ignore lanelets beyond the last path point (autowarefoundation#1554)

* feat(out_of_lane): ignore lanelets beyond the last path point

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(behavior_velocity_run_out_module): exclude obstacle crossing ego… (autowarefoundation#1574)

feat(behavior_velocity_run_out_module): exclude obstacle crossing ego back line (autowarefoundation#6680)

* add method to ignore target obstacles that cross ego cut lane



* WIP add debug support



* add params and finish debug marker



* change lane to line



* use autoware utils to get the cut line



* simplify code wit calcOffsetPose



* Update readme and eliminate unused code



* update readme



* eliminate unused function



* readme



* comments and readme



* eliminate unused include



* typo



* rename param for consistency



* change lane to line for consistency



* rename for clarity, add brief



* fix indentation



* update description



* lane ->line



* lane -> line



---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* fix(lane_change): change stopping logic (RT0-33761) (autowarefoundation#1581)

* RT0-33761 fix lane change stopping logic

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

* copied from awf main tested implementation

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

* doxygen comment

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

* Update planning/behavior_path_lane_change_module/src/utils/utils.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>

* perf: PR 7237

autowarefoundation#7237

* perf RP8406

autowarefoundation#8406

* perf PR 8416

* perf PR 8427

* perf PR 8413

* tool PR 8456

* perf PR 8461

* perf PR 8388

* perf PR 8467

* perf PR 8471

* perf PR 8490

* perf PR 8751

* chore: fix format

* perf PR 8657

* feat: improve lanelet search logic in getPredictedReferencePath()

* sp develop remove non approved change (autowarefoundation#1611)

Revert "feat: improve lanelet search logic in getPredictedReferencePath()"

This reverts commit 5de95b0.

* feat PR 8811

* fix PR 8973

* feat: improve lanelet search logic in getPredictedReferencePath()

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: temkei.kem <1041084556@qq.com>
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Co-authored-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: temkei.kem <1041084556@qq.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: danielsanchezaran <daniel.sanchez@tier4.jp>
Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
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