feat(intersection): check path margin for overshoot vehicles on red light #5394

soblin · 2023-10-24T06:06:41Z

Description

If the traffic light is red and NPC is stopping with overshoot, check the margin between expected stop distance and collision point.

launcher PR: autowarefoundation/autoware_launch#654

Tests performed

perception reproducer with attached ticket rosbag

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.
The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

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

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

codecov · 2023-10-25T01:34:17Z

Codecov Report

Attention: 39 lines in your changes are missing coverage. Please review.

Comparison is base (7c3bde1) 14.80% compared to head (a5235c4) 14.80%.
Report is 7 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5394      +/-   ##
==========================================
- Coverage   14.80%   14.80%   -0.01%     
==========================================
  Files        1662     1662              
  Lines      115421   115460      +39     
  Branches    35635    35658      +23     
==========================================
  Hits        17092    17092              
- Misses      79085    79121      +36     
- Partials    19244    19247       +3

Flag	Coverage Δ		*Carryforward flag
differential	`5.62% <0.00%> (?)`
total	`14.80% <ø> (+<0.01%)`	⬆️	Carriedforward from 7c3bde1

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

Files	Coverage Δ
...ity_intersection_module/src/scene_intersection.hpp	`0.00% <ø> (ø)`
...ior_velocity_intersection_module/src/util_type.hpp	`0.00% <ø> (ø)`
...g/behavior_velocity_run_out_module/src/manager.cpp	`0.00% <ø> (ø)`
...ing/behavior_velocity_run_out_module/src/scene.cpp	`0.00% <ø> (ø)`
...ing/behavior_velocity_run_out_module/src/utils.hpp	`0.00% <ø> (ø)`
...ehavior_velocity_intersection_module/src/debug.cpp	`0.00% <0.00%> (ø)`
...avior_velocity_intersection_module/src/manager.cpp	`14.18% <0.00%> (-0.16%)`	⬇️
...behavior_velocity_intersection_module/src/util.cpp	`0.00% <0.00%> (ø)`
...ity_intersection_module/src/scene_intersection.cpp	`0.00% <0.00%> (ø)`

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

…ight (autowarefoundation#5394)

…on red light (autowarefoundation#5394)" This reverts commit c88d83d.

…ight (autowarefoundation#5394)

…ight (autowarefoundation#5394) (#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…ight (autowarefoundation#5394) (autowarefoundation#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@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) (#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 (#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) (#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) (#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) (#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 (#1083) Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#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) (#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>

feat(intersection): check path margin for overshoot vehicles on red l…

6f77b86

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

soblin requested review from kyoichi-sugahara, shmpwk, takayuki5168 and tkimura4 as code owners October 24, 2023 06:06

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 24, 2023

soblin mentioned this pull request Oct 24, 2023

feat(intersection): check path margin for overshoot vehicles on red light autowarefoundation/autoware_launch#654

Merged

7 tasks

find stop line for non_preceding

a5235c4

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

takayuki5168 approved these changes Oct 24, 2023

View reviewed changes

soblin added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 25, 2023

soblin merged commit fe650db into autowarefoundation:main Oct 25, 2023
30 of 34 checks passed

soblin deleted the feat/intersection/ignore-overshoot-vehicle-on-red-light branch October 25, 2023 01:38

takayuki5168 pushed a commit to tier4/autoware.universe that referenced this pull request Oct 25, 2023

feat(intersection): check path margin for overshoot vehicles on red l…

b3d0e41

…ight (autowarefoundation#5394)

takayuki5168 mentioned this pull request Oct 25, 2023

feat(intersection): check path margin for overshoot vehicles on red l… tier4/autoware.universe#989

Closed

4 tasks

takayuki5168 pushed a commit to tier4/autoware.universe that referenced this pull request Oct 25, 2023

feat(intersection): check path margin for overshoot vehicles on red l…

c88d83d

…ight (autowarefoundation#5394)

t4-x2 added a commit to tier4/autoware.universe that referenced this pull request Oct 26, 2023

Revert "feat(intersection): check path margin for overshoot vehicles …

e1a645e

…on red light (autowarefoundation#5394)" This reverts commit c88d83d.

tier4-autoware-public-bot bot mentioned this pull request Nov 8, 2023

chore: sync upstream tier4/autoware.universe#1005

Merged

TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Dec 5, 2023

feat(intersection): check path margin for overshoot vehicles on red l…

a067b0a

…ight (autowarefoundation#5394)

TomohitoAndo mentioned this pull request Dec 5, 2023

feat(intersection): check path margin for overshoot vehicles on red light (#5394) tier4/autoware.universe#1056

Merged

4 tasks

TomohitoAndo added a commit to tier4/autoware.universe that referenced this pull request Dec 7, 2023

feat(intersection): check path margin for overshoot vehicles on red l…

ae04fa1

…ight (autowarefoundation#5394) (#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

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

feat(intersection): check path margin for overshoot vehicles on red l…

ca9370c

…ight (autowarefoundation#5394) (autowarefoundation#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(intersection): check path margin for overshoot vehicles on red light #5394

feat(intersection): check path margin for overshoot vehicles on red light #5394

soblin commented Oct 24, 2023 •

edited

Loading

codecov bot commented Oct 25, 2023 •

edited

Loading

feat(intersection): check path margin for overshoot vehicles on red light #5394

feat(intersection): check path margin for overshoot vehicles on red light #5394

Conversation

soblin commented Oct 24, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Oct 25, 2023 • edited Loading

Codecov Report

soblin commented Oct 24, 2023 •

edited

Loading

codecov bot commented Oct 25, 2023 •

edited

Loading