fix(behavior_path_planner): disable avoidance if ego is not on preferred lane #2781
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Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
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The avoidance module works when the ego-car is in preffered-lane Only lane change module works when the ego-car is not in preffered-lane |
tkimura4
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Jan 31, 2023
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| const auto current_lanes = util::getCurrentLanes(planner_data_); | ||
| lanelet::ConstLanelet current_lane; | ||
| lanelet::utils::query::getClosestLanelet( | ||
| current_lanes, planner_data_->self_pose->pose, ¤t_lane); |
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planner_data_->self_pose->pose
In the latest code, this has been replaced with planner_data_->self_odometry->pose.pose.
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Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
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Codecov ReportBase: 11.66% // Head: 11.55% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2781 +/- ##
==========================================
- Coverage 11.66% 11.55% -0.12%
==========================================
Files 1314 1314
Lines 91572 92459 +887
Branches 24366 25050 +684
==========================================
Hits 10681 10681
- Misses 69740 70567 +827
- Partials 11151 11211 +60
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…red lane (autowarefoundation#2781) * fix(behavior_path_planner): disable avoidance in preferred lane Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): use odometry Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
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…red lane (autowarefoundation#2781) * fix(behavior_path_planner): disable avoidance in preferred lane Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): use odometry Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
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Signed-off-by: Fumiya Watanabe rej55.g@gmail.com
Description
Before this change, if ego vehicle is near of the objects, avoidance is preferred over lane change.
To fix this behavior, in this change, it disables avoidance module if ego vehicle is not on preferred lane.
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Tests performed
Tested in planning simulator.
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