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feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning #287

Merged
merged 14 commits into from
Feb 7, 2022
Merged

feat(behavior_path_planner): better avoidance drivable areas extension in behavior path planning #287

merged 14 commits into from
Feb 7, 2022

Commits on Jan 24, 2022

  1. feat: Increases the flexibility of the function in dealing with sever… 

    …al scenarios

The implementation updates generateExtendedDrivableArea

this is a part of .iv PR (tier4/autoware.iv#2383) port

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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    zulfaqar-azmi-t4 committed Jan 24, 2022
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  2. feat: change shift_length computation method 

    The new method considers the availability of the lane on the left side or right
side of ego vehicle, depending on the position of the obstacles.

Will not generate avoidance path if the adjacent lane is not a lanelet.

this is a part of .iv PR (tier4/autoware.iv#2383) port

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 24, 2022
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  3. feat: Adds documentation and debug marker visualization. 

    The visualization will show the remaining distance between the overhang_pose and
referenced linestring.

this is a part of .iv PR (tier4/autoware.iv#2383) port

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 24, 2022
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  4. fix: change debug naming to show clearer intent 

    The fix also removes a space character from one of the debug printing function call.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 24, 2022
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  5. fix: replace equation from latex to math jax 

    Also remove the equation's image

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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    zulfaqar-azmi-t4 committed Jan 24, 2022
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  6. fix: equation spacing 

    Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 24, 2022
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Commits on Jan 25, 2022

  1. Fix: slight improvement in debug marker 

    1. Increase line ID text size and
2. Remove unnecessary visualization of connection between last point and the
front point linestring.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 25, 2022
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Commits on Jan 26, 2022

  1. Merge branch 'autowarefoundation:tier4/proposal' into 234-behavior-pa… 

    …th-planner-drivable-area-extension
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 26, 2022
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Commits on Jan 31, 2022

  1. Merge branch 'autowarefoundation:tier4/proposal' into 234-behavior-pa… 

    …th-planner-drivable-area-extension
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 31, 2022
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  2. Merge branch 'autowarefoundation:tier4/proposal' into 234-behavior-pa… 

    …th-planner-drivable-area-extension
    @zulfaqar-azmi-t4
    zulfaqar-azmi-t4 committed Jan 31, 2022
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Commits on Feb 6, 2022

  1. fix: drivable area not extend to third lane during extension 

    Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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    zulfaqar-azmi-t4 committed Feb 6, 2022
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Commits on Feb 7, 2022

  1. Merge branch 'tier4/proposal' into 234-behavior-path-planner-drivable… 

    …-area-extension
    @taikitanaka3
    taikitanaka3 committed Feb 7, 2022
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  2. Merge branch 'tier4/proposal' into 234-behavior-path-planner-drivable… 

    …-area-extension
    @taikitanaka3
    taikitanaka3 committed Feb 7, 2022
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  3. fix: slightly increase lateral_collision_safety_buffer to 0.7 

    The decision to increase is based on discussion with the planning control team
and also from input by FI team.

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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    zulfaqar-azmi-t4 committed Feb 7, 2022
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