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feat(intersection): consider state transit margin time in collision detection #2719

Merged
merged 7 commits into from
Jan 24, 2023
Merged

feat(intersection): consider state transit margin time in collision detection #2719

merged 7 commits into from
Jan 24, 2023

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soblin
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@soblin soblin commented Jan 23, 2023 •
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Description

I fixed the collision detection algorithm to consider the ego vehicle's time delay in making the decision to go out when collision detection judgement turned safe.

Related links

https://tier4.atlassian.net/browse/T4PB-24144

parameter PR to awf: autowarefoundation/autoware_launch#181
parameter PR to tier4: tier4/autoware_launch#728

Tests performed

All scenarios passed without any retrial.

https://evaluation.tier4.jp/evaluation/reports/20c3d884-d33d-5361-a88a-953038dd13dc?project_id=prd_jt

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@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 23, 2023
@soblin soblin force-pushed the feat/intersection-improve-ego-vel-prediction branch from fa6138d to 342bff9 Compare January 23, 2023 09:32
@soblin soblin mentioned this pull request Jan 23, 2023
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8 tasks
@soblin soblin marked this pull request as ready for review January 23, 2023 09:34
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codecov bot commented Jan 23, 2023 •
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Codecov Report

Base: 11.54% // Head: 11.54% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (5088e8e) compared to base (43a80d5).
Patch has no changes to coverable lines.

❗ Current head 5088e8e differs from pull request most recent head 5230666. Consider uploading reports for the commit 5230666 to get more accurate results

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #2719      +/-   ##
==========================================
- Coverage   11.54%   11.54%   -0.01%     
==========================================
  Files        1309     1309              
  Lines       91282    91287       +5     
  Branches    24198    24200       +2     
==========================================
  Hits        10541    10541              
- Misses      69706    69709       +3     
- Partials    11035    11037       +2
Flag Coverage Δ
total 11.54% <0.00%> (-0.01%) ⬇️
Impacted Files Coverage Δ
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp 80.95% <0.00%> (-4.77%) ⬇️
planning/behavior_path_planner/src/utilities.cpp 7.65% <0.00%> (-0.07%) ⬇️
...erception/traffic_light_classifier/src/nodelet.cpp 0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp 0.16% <0.00%> (ø)
...planning_evaluator/src/planning_evaluator_node.cpp 36.45% <0.00%> (+2.08%) ⬆️
...lanner/include/behavior_path_planner/utilities.hpp 29.41% <0.00%> (+5.60%) ⬆️

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takayuki5168
takayuki5168 approved these changes Jan 23, 2023
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LGTM

@soblin soblin force-pushed the feat/intersection-improve-ego-vel-prediction branch from 342bff9 to ed27a84 Compare January 24, 2023 08:27
@soblin soblin mentioned this pull request Jan 24, 2023
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soblin commented Jan 24, 2023

@tkimura4 @kyoichi-sugahara Can you review this PR ?

@soblin soblin force-pushed the feat/intersection-improve-ego-vel-prediction branch from ed27a84 to edf1b91 Compare January 24, 2023 11:07
soblin added 7 commits January 24, 2023 21:44
@soblin
consider state_transit_margin_time time delay when ego is stopped
4cb5ed8 
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin
output to csv
cd8e8bf 
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin
update ego's velocity profile. update ttc param based on experiment
ec14db2 
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin
use state machine duration timeout for ego's delay time in collision …
34a6c3c 
…checking

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin
keep_detection_line is unnecessary given ego's delay time in velocity…
e94673b 
… prediction

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin
remove analysis data
eca7d42 
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin
update param to conservative
5230666 
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin soblin force-pushed the feat/intersection-improve-ego-vel-prediction branch from edf1b91 to 5230666 Compare January 24, 2023 12:44
@soblin soblin merged commit 66f8342 into autowarefoundation:main Jan 24, 2023
@soblin soblin deleted the feat/intersection-improve-ego-vel-prediction branch January 24, 2023 14:23
soblin added a commit to soblin/autoware.universe that referenced this pull request Jan 24, 2023
@soblin
feat(intersection): consider state transit margin time in collision d…
a1e3ca2 
…etection (autowarefoundation#2719)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jan 25, 2023
Merged
soblin added a commit to soblin/autoware.universe that referenced this pull request Jan 26, 2023
@soblin
feat(intersection): consider state transit margin time in collision d…
65e1b0e 
…etection (autowarefoundation#2719)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
soblin added a commit to soblin/autoware.universe that referenced this pull request Jan 27, 2023
@soblin
feat(intersection): consider state transit margin time in collision d…
ec1ad55 
…etection (autowarefoundation#2719)


Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
maxime-clem pushed a commit to maxime-clem/autoware.universe that referenced this pull request Jan 30, 2023
@soblin @maxime-clem
feat(intersection): consider state transit margin time in collision d…
6220867 
…etection (autowarefoundation#2719)


Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
lexavtanke pushed a commit to lexavtanke/autoware.universe that referenced this pull request Jan 31, 2023
@soblin @lexavtanke
feat(intersection): consider state transit margin time in collision d…
2937816 
…etection (autowarefoundation#2719)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
asana17 pushed a commit to asana17/autoware.universe that referenced this pull request Feb 8, 2023
@soblin @asana17
feat(intersection): consider state transit margin time in collision d…
2f9a108 
…etection (autowarefoundation#2719)


Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
@soblin soblin mentioned this pull request Feb 10, 2023
Merged
7 tasks
soblin added a commit to soblin/autoware.universe that referenced this pull request Feb 10, 2023
@soblin
fix(behavior_velocity_planner): revert part of autowarefoundation#2719
f1f2252 
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
soblin added a commit that referenced this pull request Feb 13, 2023
@soblin
fix(behavior_velocity_planner): continue collision checking after pas…
b0b0b7a 
…s judge (#2859)

* fix(behavior_velocity_planner): check if over pass judge line after  collision checking

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fix(behavior_velocity_planner): revert part of #2719

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
soblin added a commit to soblin/autoware.universe that referenced this pull request May 7, 2023
@soblin
feat(intersection): consider state transit margin time in collision d…
b434c16 
…etection (autowarefoundation#2719)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
soblin added a commit to soblin/autoware.universe that referenced this pull request May 7, 2023
@soblin
fix(behavior_velocity_planner): continue collision checking after pas…
9c5bc3d 
…s judge (autowarefoundation#2859)

* fix(behavior_velocity_planner): check if over pass judge line after  collision checking

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fix(behavior_velocity_planner): revert part of autowarefoundation#2719

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
keiota pushed a commit to keiota/autoware.universe that referenced this pull request Aug 17, 2023
@soblin
fix(behavior_velocity_planner): continue collision checking after pas…
f164e64 
…s judge (autowarefoundation#203)

fix(behavior_velocity_planner): revert part of autowarefoundation#2719

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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@takayuki5168 takayuki5168 takayuki5168 approved these changes

@kosuke55 kosuke55 Awaiting requested review from kosuke55

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