feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

kosuke55 · 2023-12-27T08:10:34Z

Description

avoidance_pull_over-2023-12-27_01.39.07.mp4

lane change -> avoidance -> pull over

lane_change_avoidance_pull_over-2023-12-27_17.18.59.mp4

avoidance_pull_over-2024-01-16_23.47.14.mp4

Tests performed

psim

tier4 internal scenario test
https://evaluation.tier4.jp/evaluation/reports/tables/new?catalog_id=095ae8b3-a23b-4a08-8674-10a681449693&filter=&job_id=bcbb2adf-0904-5c8b-b0f1-6eaf837e4558&project_id=prd_jt&table_config=date%2Ctotal%2Chide&target_ids=a205cd03-61b1-5905-b957-d200d9e1e69e

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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codecov · 2024-01-11T17:14:44Z

Codecov Report

Attention: 250 lines in your changes are missing coverage. Please review.

Comparison is base (3928295) 14.64% compared to head (c140aef) 14.62%.
Report is 1 commits behind head on main.

Files	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	63 Missing ⚠️
...ing/behavior_path_goal_planner_module/src/util.cpp	0.00%	63 Missing ⚠️
...path_avoidance_module/src/shift_line_generator.cpp	0.00%	46 Missing and 1 partial ⚠️
...r_path_goal_planner_module/src/shift_pull_over.cpp	0.00%	35 Missing ⚠️
...g/behavior_path_planner_common/src/utils/utils.cpp	16.12%	22 Missing and 4 partials ⚠️
...nning/behavior_path_avoidance_module/src/utils.cpp	0.00%	7 Missing and 2 partials ⚠️
.../behavior_path_goal_planner_module/src/manager.cpp	0.00%	3 Missing ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 2 partials ⚠️
...de/behavior_path_avoidance_module/data_structs.hpp	0.00%	1 Missing ⚠️
...ath_goal_planner_module/pull_over_planner_base.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5979      +/-   ##
==========================================
- Coverage   14.64%   14.62%   -0.02%     
==========================================
  Files        1858     1858              
  Lines      126839   127028     +189     
  Branches    37171    37216      +45     
==========================================
+ Hits        18570    18575       +5     
- Misses      87381    87556     +175     
- Partials    20888    20897       +9

Flag	Coverage Δ		*Carryforward flag
differential	`11.63% <1.96%> (?)`
total	`14.64% <ø> (+<0.01%)`	⬆️	Carriedforward from 3928295

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

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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…ommon Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kyoichi-sugahara

LGTM!

…neously (autowarefoundation#5979) * feat(avoidance/goal_planner): execute avoidance and pull over simultaneously Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * use utils Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix overlapped Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * reafactor(behavior_path_planner): move isAllowedGoalModification to common Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix readme Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add goal modification condtion to avoidance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * clean up * revert param Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix param Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move dead line process Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix condition Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix crop Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix crop * fix typos Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Dec 27, 2023

kosuke55 changed the title ~~feat(avoidance/goal_planner): avoidance while pull over~~ feat(avoidance/goal_planner): execute avoidance and pull over simultaneously Dec 27, 2023

kosuke55 force-pushed the feat/avoidance_pull_over branch from 8cbefad to f534665 Compare December 28, 2023 13:36

kosuke55 force-pushed the feat/avoidance_pull_over branch from f534665 to 225a07a Compare January 11, 2024 02:42

github-actions bot removed the component:common Common packages from the autoware-common repository. (auto-assigned) label Jan 11, 2024

kosuke55 force-pushed the feat/avoidance_pull_over branch 2 times, most recently from 218aad6 to 8f66df0 Compare January 11, 2024 15:48

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jan 11, 2024

kosuke55 force-pushed the feat/avoidance_pull_over branch from 8f66df0 to 423b709 Compare January 11, 2024 15:49

kosuke55 mentioned this pull request Jan 11, 2024

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously autowarefoundation/autoware_launch#782

Merged

7 tasks

kosuke55 force-pushed the feat/avoidance_pull_over branch from 423b709 to 97dd037 Compare January 11, 2024 15:54

kosuke55 marked this pull request as ready for review January 11, 2024 15:56

kosuke55 requested review from danielsanchezaran, rej55, soblin, maxime-clem, satoshi-ota, shmpwk, TakaHoribe, takayuki5168, tkimura4, zulfaqar-azmi-t4, kyoichi-sugahara and TomohitoAndo as code owners January 11, 2024 15:56

kosuke55 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 11, 2024

kosuke55 force-pushed the feat/avoidance_pull_over branch 2 times, most recently from 10b8e1e to 460ad01 Compare January 11, 2024 16:27

kosuke55 assigned satoshi-ota Jan 11, 2024

kosuke55 added 12 commits January 16, 2024 14:27

fix overlapped

daea061

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

reafactor(behavior_path_planner): move isAllowedGoalModification to c…

ce161b6

…ommon Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix readme

0269cb5

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

add goal modification condtion to avoidance

8ceaaec

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

clean up

3206f3e

revert param

9db5fea

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix param

80929ef

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

move dead line process

a6f988d

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix condition

87a1cf3

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix crop

0ed38f4

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix crop

62833d2

fix typos

c140aef

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kosuke55 force-pushed the feat/avoidance_pull_over branch from 2bd6c7b to c140aef Compare January 16, 2024 05:28

kosuke55 assigned kyoichi-sugahara Jan 16, 2024

kyoichi-sugahara approved these changes Jan 16, 2024

View reviewed changes

satoshi-ota approved these changes Jan 16, 2024

View reviewed changes

kosuke55 merged commit c3f8e0a into main Jan 16, 2024
23 of 28 checks passed

kosuke55 deleted the feat/avoidance_pull_over branch January 16, 2024 14:32

tier4-autoware-public-bot bot mentioned this pull request Jan 24, 2024

chore: sync upstream tier4/autoware.universe#1116

Merged

kosuke55 mentioned this pull request Feb 1, 2024

PullOver/Out limitation and development plan #3223

Closed

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feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

kosuke55 commented Dec 27, 2023 •

edited

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codecov bot commented Jan 11, 2024 •

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kyoichi-sugahara left a comment

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

feat(avoidance/goal_planner): execute avoidance and pull over simultaneously #5979

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kosuke55 commented Dec 27, 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 Jan 11, 2024 • edited Loading

Codecov Report

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kosuke55 commented Dec 27, 2023 •

edited

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codecov bot commented Jan 11, 2024 •

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