feat(start_planner): disable safety check against dynamic objects when ego polygon overlap with centerline #6236
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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
…terLane() function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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planning/behavior_path_start_planner_module/src/start_planner_module.cpp
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| for (size_t j = 0; j < vehicle_footprint.size() - 1; ++j) { | ||
| const auto & p3 = tier4_autoware_utils::toMsg(vehicle_footprint[j].to_3d()); | ||
| const auto & p4 = tier4_autoware_utils::toMsg(vehicle_footprint[j + 1].to_3d()); | ||
| const auto intersection = tier4_autoware_utils::intersect(p1, p2, p3, p4); |
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how abount just check intersection of polygon and lines not giving 4 points
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maybe it is possible with boost geometry
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@kyoichi-sugahara said tier4 utils is fater
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@kosuke55
I'm using it because this computational cost is low
…module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
…module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6236 +/- ##
==========================================
+ Coverage 14.39% 14.54% +0.15%
==========================================
Files 1906 1874 -32
Lines 129847 127616 -2231
Branches 37572 37070 -502
==========================================
- Hits 18697 18568 -129
+ Misses 90155 88180 -1975
+ Partials 20995 20868 -127
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…n ego polygon overlap with centerline (autowarefoundation#6236) * disable safety check against dynamic objects when ego polygon overlap with centerline Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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…n ego polygon overlap with centerline (autowarefoundation#6236) * disable safety check against dynamic objects when ego polygon overlap with centerline Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Description
The issue was
ego vehicle stops on the middle of the road when the vehicle comes from the behind.
safety check against dynamic objects after departure was enabled.
In this PR,
disabled safety check against dynamic objects when ego polygon overlap with centerline
Before change
Screencast from 2024年01月30日 20時17分28秒.webm
Ego stops against behind vehicle...
After change
Screencast from 2024年01月30日 19時51分02秒.webm
Ego doesn't stop against behind vehicle
Tests performed
Effects on system behavior
Not applicable.
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