fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego #651
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…index from ego Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
s-azumi
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Codecov Report
@@ Coverage Diff @@
## main #651 +/- ##
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- Coverage 10.72% 10.67% -0.06%
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Files 729 729
Lines 51118 51363 +245
Branches 6596 6596
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Hits 5484 5484
- Misses 41174 41419 +245
Partials 4460 4460
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@s-azumi please make sure to write release note. |
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fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego (#651)
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* split as into pacmod_interface and ssc_interface (autowarefoundation#640) * split as into pacmod_interface and ssc_interface * remove as and move config Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * update to support velocity report header (autowarefoundation#655) * update to support velocity report header Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * use maybe_unused Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix precommit Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * adapt to actuation cmd/status as control msg (autowarefoundation#646) * adapt to actuation cmd/status as control msg * fix readme * fix topics * fix remaing topics * as to pacmod interface * fix vehicle status * add header to twist * revert gyro_odometer_change * revert twist topic change * revert unchanged package * [pacmod_interface]fix topic name (autowarefoundation#651) * fix topic name * fix ns * fix * auto/revert cmd converter (autowarefoundation#680) * Revert "move cmd converters to control pkg (autowarefoundation#642)" This reverts commit 9f733b5. * fix topic * add as doc (autowarefoundation#616) * add as doc * pacmod_msgs -> pacmod3_msgs * fix typo * update topic names of README.md * update README.md Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * Auto/steering wheel status (autowarefoundation#719) * unused * add stering wheel status * fix current steer * publish turn cmd (autowarefoundation#749) * fix typo Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
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…index from ego (tier4#651) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
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…index from ego (tier4#651) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
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…index from ego (tier4#651) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
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…index from ego (tier4#651) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
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…ndation#4141) (autowarefoundation#651) * feat(path_shifter): add utils * feat(avoidance): shorten avoidance stop distance * feat(avoidance): insert slow down speed * fix(avoidance): don't set stoppable=true for objects that ego doesn't have to avoid * refactor(avoidance): rename unreadable variable name * docs(avoidance): add new parameter description --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…index from ego
Signed-off-by: Azumi Suzuki azumi.suzuki@tier4.jp
Description
obstalce_stop_plannersometimes not work when driving in overlapping lanes.When referring to the index on the trajectory closest to the vehicle, it may refer to the opposite trajectory on the overlapping lane.
In which case the obstacle stop function will not work and a crash will occur.
Obstacle stop does not work because it refer to the trajectory in the opposite direction
Obstacle stop works if it refer to the correct trajectory
In this PR, use existing function that take into account the angle between the vehicle and the trajectory to solve the problem.
Internal PR for tier4:
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