feat(lane_change): enable force execution under unsafe conditions #8131
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: Go Sakayori <go.sakayori@tier4.jp>
Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
go-sakayori
requested review from
mkquda,
rej55,
kosuke55,
satoshi-ota,
shmpwk,
TomohitoAndo,
tkimura4 and
zulfaqar-azmi-t4
as code owners
github-actions
bot
added
the
component:planning
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
go-sakayori
added
the
run:build-and-test-differential
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8131 +/- ##
==========================================
- Coverage 29.12% 29.11% -0.01%
==========================================
Files 1609 1610 +1
Lines 118111 118149 +38
Branches 50847 50851 +4
==========================================
+ Hits 34397 34400 +3
- Misses 74492 74526 +34
- Partials 9222 9223 +1
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
chihungtzeng
pushed a commit
to chihungtzeng/autoware.universe
that referenced
this pull request
Jul 23, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
kyoichi-sugahara
pushed a commit
to kyoichi-sugahara/autoware.universe
that referenced
this pull request
Jul 23, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
zulfaqar-azmi-t4
pushed a commit
to zulfaqar-azmi-t4/autoware.universe
that referenced
this pull request
Jul 23, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
go-sakayori
added a commit
to tier4/autoware.universe
that referenced
this pull request
Jul 31, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
go-sakayori
added a commit
to tier4/autoware.universe
that referenced
this pull request
Aug 13, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
esteve
pushed a commit
to esteve/autoware.universe
that referenced
this pull request
Aug 13, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
shmpwk
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Aug 20, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
shmpwk
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Aug 20, 2024
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
TetsuKawa
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Jan 23, 2025
…towarefoundation#8131) add force execution conditions Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
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
When lane change was force activated by operators under unsafe condition, the lane change path was canceled inside the module. When force activated it should activate the maneuver until it succeeds the lane change regardless to the safe/unsafe judgement inside the module. This PR enables full lane change once the the module is force activated via RTC.
Related links
The force activate judgment is implemented in the RTC interface, in the PR below.
Force static obstacle avoidance: #8094
How was this PR tested?
PSim
Before: It is canceled every time it is force activated
Screencast from 2024年07月22日 18時01分26秒.webm
After: Once activated it finishes the lane change maneuver.
Screencast from 2024年07月22日 18時16分26秒.webm
No degrade in TIER IV internal test
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.