fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles #1083

shulanbushangshu · 2022-06-13T06:34:00Z

Signed-off-by: jack.song jack.song@autocore.ai

Description

In obstacle_cruise_planner,During obstacle filtering, the absolute value should be taken for comparison with the parameters after calculating the horizontal distance of the obstacle, because the offset distance is positive or negative.
The current code is as follows:

The "dist_from_obstacle_to_traj" should be changed to "std::fabs(dist_from_obstacle_to_traj)".

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Signed-off-by: jack.song <jack.song@autocore.ai>

codecov · 2022-06-13T06:54:09Z

Codecov Report

Merging #1083 (f99306c) into main (a2a8bec) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1083      +/-   ##
========================================
- Coverage   8.98%   8.98%   -0.01%     
========================================
  Files       1024    1024              
  Lines      69428   69459      +31     
  Branches   11696   11697       +1     
========================================
+ Hits        6238    6239       +1     
+ Misses     58090   58037      -53     
- Partials    5100    5183      +83

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`8.97% <0.00%> (+<0.01%)`	⬆️	Carriedforward from 471a8c3

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

Impacted Files	Coverage Δ
planning/obstacle_cruise_planner/src/node.cpp	`0.00% <0.00%> (ø)`
map/lanelet2_extension/lib/query.cpp	`9.85% <0.00%> (ø)`
map/lanelet2_extension/lib/utilities.cpp	`8.89% <0.00%> (ø)`
sensing/gnss_poser/src/gnss_poser_core.cpp	`0.00% <0.00%> (ø)`
common/osqp_interface/src/osqp_interface.cpp	`34.35% <0.00%> (ø)`
map/lanelet2_extension/lib/visualization.cpp	`0.00% <0.00%> (ø)`
planning/route_handler/src/route_handler.cpp	`0.00% <0.00%> (ø)`
control/trajectory_follower/src/mpc_utils.cpp	`62.71% <0.00%> (ø)`
map/lanelet2_extension/lib/detection_area.cpp	`0.00% <0.00%> (ø)`
... and 60 more

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takayuki5168 · 2022-06-13T07:19:00Z

@shulanbushangshu Thank you so much!
Let me know if there is any other wrong behavior.

takayuki5168

LGTM

purewater0901 · 2022-06-14T07:35:30Z

@shulanbushangshu Thank you for your contribution. Since this PR already gets approval, you can merge the PR whenever you want.

…r-on-Obstacles

shulanbushangshu · 2022-06-14T08:28:39Z

@purewater0901
You can merge this pr.This is ready to merge.

…filter on obstacles (autowarefoundation#1083) * use-absolute-value-in-lateraloffset-to-filter-on-Obstacles Signed-off-by: jack.song <jack.song@autocore.ai> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: SoohyeokPark-MORAI <shpark.morai@gmail.com>

…filter on obstacles (autowarefoundation#1083) * use-absolute-value-in-lateraloffset-to-filter-on-Obstacles Signed-off-by: jack.song <jack.song@autocore.ai> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…filter on obstacles (autowarefoundation#1083) * use-absolute-value-in-lateraloffset-to-filter-on-Obstacles Signed-off-by: jack.song <jack.song@autocore.ai> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: kminoda <koji.m.minoda@gmail.com>

…filter on obstacles (tier4#1083) * use-absolute-value-in-lateraloffset-to-filter-on-Obstacles Signed-off-by: jack.song <jack.song@autocore.ai> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai>

Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(map_loader): display curbstone as marker array (autowarefoundation#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * revert refactoring due to cherry-pick * feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (autowarefoundation#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): improve reuse of previous decision (autowarefoundation#1017) * Do not directly reuse a prev stop point but project it on the new path Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve reuse of the previously inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix precision of inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(system_monitor): output command line (autowarefoundation#5430) (autowarefoundation#1057) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: pull tracking object merger from awf/main Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (autowarefoundation#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> * fix(ndt_scan_matcher): delete unmerged feature * fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951) Fixed the lock scope in update_ndt Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (autowarefoundation#1075) fix(utils): fix drivable area expansion logic for zebra zone Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bvp): traffic light state debug (autowarefoundation#1083) Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (autowarefoundation#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (autowarefoundation#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: yamato-ando <Yamato ANDO> Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> 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> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

shulanbushangshu and others added 2 commits June 13, 2022 13:17

use-absolute-value-in-lateraloffset-to-filter-on-Obstacles

f63aa85

Signed-off-by: jack.song <jack.song@autocore.ai>

ci(pre-commit): autofix

471a8c3

shulanbushangshu changed the title ~~fix(obstacle_cruise_planner): use-absolute-value-in-lateraloffset-to-filter-on-Obstacles~~ fix(obstacle_cruise_planner): use-absolute-value-in-lateraloffset-to-filter-on-obstacles Jun 13, 2022

shulanbushangshu changed the title ~~fix(obstacle_cruise_planner): use-absolute-value-in-lateraloffset-to-filter-on-obstacles~~ fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles Jun 13, 2022

shulanbushangshu requested review from takayuki5168 and purewater0901 June 13, 2022 06:43

takayuki5168 approved these changes Jun 13, 2022

View reviewed changes

Merge branch 'main' into use-absolute-value-in-lateraloffset-to-filte…

f99306c

…r-on-Obstacles

purewater0901 merged commit 785c8d6 into autowarefoundation:main Jun 14, 2022

tier4-autoware-public-bot bot mentioned this pull request Jun 15, 2022

chore: sync upstream tier4/autoware.universe#65

Merged

TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this pull request Jan 24, 2024

fix(bvp): traffic light state debug (autowarefoundation#1083)

fcc11e1

Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai>

saka1-s pushed a commit to saka1-s/autoware.universe that referenced this pull request Feb 2, 2024

fix(bvp): traffic light state debug (autowarefoundation#1083)

6c667d7

Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai>

saka1-s pushed a commit to saka1-s/autoware.universe that referenced this pull request Mar 4, 2024

fix(bvp): traffic light state debug (autowarefoundation#1083)

c36c197

Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

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fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles #1083

fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles #1083

shulanbushangshu commented Jun 13, 2022 •

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shulanbushangshu commented Jun 14, 2022

fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles #1083

fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles #1083

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