feat(behavior_path_planner): make initial ego pose in drivable area #769

takayuki5168 · 2022-04-23T05:05:03Z

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

When the initial ego pose is close to the boudary between two lanelets, the ego pose's footprint is sometimes out of the drivable area, which makes the trajectory points' velocities zero by obstacle_avoidance_planner, as shown in the following figure.

I expanded the drivable area properly so that the ego pose is inside the drivable area.

FYI
The same handling is already done for the goal pose (for end trajectory point)

autoware.universe/planning/behavior_path_planner/src/utilities.cpp

Lines 1140 to 1143 in ae8422b

    
           if (containsGoal(lanes, route_handler->getGoalLaneId())) { 
        
             const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length); 
        
             drivable_lanes.insert(drivable_lanes.end(), lanes_after_goal.begin(), lanes_after_goal.end()); 
        
           }

So this PR means the same handling will be done for the initial pose (for start trajectory point)

Tests performed

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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 · 2022-04-23T05:08:08Z

planning/route_handler/src/route_handler.cpp

 std::vector<lanelet::ConstLanelet> RouteHandler::getLanesAfterGoal(
  const double vehicle_length) const
 {
  lanelet::ConstLanelet goal_lanelet;
-  if (getGoalLanelet(&goal_lanelet)) {
-    const double min_succeeding_length = vehicle_length * 2;
-    const auto succeeding_lanes_vec = lanelet::utils::query::getSucceedingLaneletSequences(
-      routing_graph_ptr_, goal_lanelet, min_succeeding_length);
-    if (succeeding_lanes_vec.empty()) {
-      return std::vector<lanelet::ConstLanelet>{};
-    } else {
-      return succeeding_lanes_vec.front();
-    }
-  } else {
+  if (!getGoalLanelet(&goal_lanelet)) {
    return std::vector<lanelet::ConstLanelet>{};
  }
+
+  const double min_succeeding_length = vehicle_length * 2;
+  const auto succeeding_lanes_vec = lanelet::utils::query::getSucceedingLaneletSequences(
+    routing_graph_ptr_, goal_lanelet, min_succeeding_length);
+  if (succeeding_lanes_vec.empty()) {
+    return std::vector<lanelet::ConstLanelet>{};
+  }
+
+  return succeeding_lanes_vec.front();
 }


This is just refactoring without any behavior's change, in order to align with the new getLanesBeforePose function.

I'm not sure why vehicle_length * 2 is used instead of just vehicle_length.

codecov · 2022-04-23T05:38:43Z

Codecov Report

Merging #769 (4dd9b70) into main (ae8422b) will decrease coverage by 0.08%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #769      +/-   ##
========================================
- Coverage   9.64%   9.56%   -0.09%     
========================================
  Files        907     907              
  Lines      56518   57002     +484     
  Branches    6694    6694              
========================================
  Hits        5450    5450              
- Misses     46573   47057     +484     
  Partials    4495    4495

Flag	Coverage Δ		*Carryforward flag
differential	`2.98% <0.00%> (?)`
total	`9.64% <0.00%> (ø)`		Carriedforward from ae8422b

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

Impacted Files	Coverage Δ
planning/behavior_path_planner/src/utilities.cpp	`0.00% <0.00%> (ø)`
planning/route_handler/src/route_handler.cpp	`0.00% <0.00%> (ø)`

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(#44) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add MultiArrayDimension/Layout, and update MultiArrayMsgs (#28) * add MultiArrayDimension/Layout, and update MultiArrayMsgs * add kind of license * Feature/vehicle interface improvements (autowarefoundation#1361) (#48) * add vehicle msg * add pacmod interface * add eps controller * use each control commands instead of vehicle command * fixed details * fixed speell check * const * fixed brake status * publish cmd when recieving ctrl cmd * fix shift cmd ptr * remove unused function and set proper license * fix names * fix typo for pacmod * remove unnecessary waiting * use flags, limit, multiarray * remove accel brake dependency * fix retrun value * replace eps to steer * cosmetic change for namespace * fix segfo and retval * Use Enum instead of int * remove unused var * add const * rename to calcFFMap * prev time steer calc * add sample csv * add new line Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * remove EmergencyMode and DricingCapability (#33) * develop -> main sync (#53) * Add detected object with feature (#54) * Add detected object with feature Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add autoware_auto_msgs Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Revert "Add detected object with feature (#54)" (#57) This reverts commit 3fcfe9936361928256ed5ffa7d8a1ef4c978ca09. * Add detected object with feature (#54) (#59) (#4) * Add detected object with feature (#54) (#59) * Add detected object with feature Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add autoware_auto_msgs Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * update build depends Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add message converter (#58) * Add message converter * Move autoware state converter * add VehicleEmergency (#55) * Add two convert method (#64) * add convert method from iv_shift to auto_gear Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * remove space Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * add convert method from for turn & hazard signal Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * fix dependency of iv_auto_msgs converter (#8) Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> * move actuation msg (#66) * Revert "move actuation msg (#66)" This reverts commit d8e3ccdcabacab819360cf399442950cc162a648. * merge autoware_localization_srvs to autoware_localization_msgs * rename pose_with_cov to pose_with_covariance * add steering wheel status stamped * fix: remove workflow and PR_TEMPLATE * fix: remove autoware_api_msgs dependency * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Esteve Fernandez <esteve@apache.org> Co-authored-by: Servando <43142004+sgermanserrano@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Shigeki Kobayashi <32808802+sgk-000@users.noreply.github.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota <satoshi.ota@gmail.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: tkhmy <tkh.my.p@gmail.com> Co-authored-by: Tatsuya Yamasaki <httperror@404-notfound.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki.murooka@tier4.jp> Co-authored-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…lel (autowarefoundation#769) (#153) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Takayuki AKAMINE <38586589+takam5f2@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

TakaHoribe · 2022-04-26T06:09:57Z

before

after

TakaHoribe

works fine good to go

yukkysaito

LGTM

…769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…ier4#769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

feat(behavior_path_planner): make initial ego pose in drivable area

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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 commented Apr 23, 2022

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takayuki5168 requested review from tkimura4 and TakaHoribe April 23, 2022 05:08

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TakaHoribe approved these changes Apr 26, 2022

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takayuki5168 merged commit 57e6774 into autowarefoundation:main Apr 26, 2022

takayuki5168 deleted the feature/make-initial-ego-pose-in-drivable-area branch April 26, 2022 14:18

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chore: sync upstream tier4/autoware.universe#42

Merged

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feat(behavior_path_planner): make initial ego pose in drivable area (#…

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…769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

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feat(behavior_path_planner): make initial ego pose in drivable area (#…

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…769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

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…769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

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…769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

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…769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

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feat(behavior_path_planner): make initial ego pose in drivable area #769

feat(behavior_path_planner): make initial ego pose in drivable area #769

takayuki5168 commented Apr 23, 2022 •

edited

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	if (containsGoal(lanes, route_handler->getGoalLaneId())) {
	const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length);
	drivable_lanes.insert(drivable_lanes.end(), lanes_after_goal.begin(), lanes_after_goal.end());
	}

feat(behavior_path_planner): make initial ego pose in drivable area #769

feat(behavior_path_planner): make initial ego pose in drivable area #769

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takayuki5168 commented Apr 23, 2022 • edited Loading

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takayuki5168 commented Apr 23, 2022 •

edited

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