feat(static_obstacle_avoidance): force deactivation #8288

go-sakayori · 2024-07-31T08:29:40Z

Description

Previously the static obstacle avoidance continuously activated even when the shift point was force deactivated by human operation via RTC.
This PR enables force deactivation when yield maneuver could be applied, and after a certain time (this is parameterized) the avoidance would reactivate.

How was this PR tested?

Before:
Can't cancel
After:
Duration time 2 second
Duration time 10 second

No degrade in TIER IV internal scenario test

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

github-actions · 2024-07-31T08:29:57Z

Thank you for contributing to the Autoware project!

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Please ensure:

You've checked our contribution guidelines.
Your PR follows our pull request guidelines.
All required CI checks pass before marking the PR ready for review.

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

satoshi-ota · 2024-07-31T09:40:27Z

.../behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

+        });
+    };
+
+  auto is_force_deactivated = registered_sl_force_deactivated("left", left_shift_array_) ||


Suggested change

auto is_force_deactivated = registered_sl_force_deactivated("left", left_shift_array_) ||

const auto is_force_deactivated = registered_sl_force_deactivated("left", left_shift_array_) ||

Fixed in 22fa38d

satoshi-ota · 2024-07-31T09:41:00Z

.../behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

@@ -570,6 +570,24 @@ void StaticObstacleAvoidanceModule::fillEgoStatus(
    return;
  }

+  auto registered_sl_force_deactivated =


Suggested change

auto registered_sl_force_deactivated =

const auto registered_sl_force_deactivated =

Fixed in 22fa38d

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

codecov · 2024-07-31T10:13:15Z

Codecov Report

Attention: Patch coverage is 46.42857% with 15 lines in your changes missing coverage. Please review.

Project coverage is 29.14%. Comparing base (3d849e9) to head (22fa38d).
Report is 949 commits behind head on main.

Files	Patch %	Lines
...ath_static_obstacle_avoidance_module/src/scene.cpp	37.50%	12 Missing and 3 partials ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #8288       +/-   ##
===========================================
+ Coverage   15.09%   29.14%   +14.04%     
===========================================
  Files        1967     1602      -365     
  Lines      135941   117701    -18240     
  Branches    42122    50662     +8540     
===========================================
+ Hits        20520    34301    +13781     
+ Misses      92700    74220    -18480     
+ Partials    22721     9180    -13541

Flag	Coverage Δ		*Carryforward flag
differential	`13.68% <46.42%> (?)`
total	`29.19% <ø> (+14.10%)`	⬆️	Carriedforward from 5093495

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

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

…on#8288) * add force cancel function Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix format Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix json schema Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix spelling Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> --------- Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com>

…on#8288) * add force cancel function Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix format Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix json schema Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix spelling Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> --------- Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com>

…on#8288) * add force cancel function Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix format Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix json schema Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix spelling Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> --------- Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com>

…on#8288) * add force cancel function Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix format Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix json schema Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix spelling Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> --------- Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com> Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com>

…on#8288) * add force cancel function Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix format Signed-off-by: Go Sakayori <gsakayori@gmail.com> * fix json schema Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix spelling Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> * fix Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> --------- Signed-off-by: Go Sakayori <go.sakayori@tier4.jp> Signed-off-by: Go Sakayori <gsakayori@gmail.com>

go-sakayori and others added 2 commits July 31, 2024 15:47

add force cancel function

ebaf354

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

fix format

9c484ca

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jul 31, 2024

go-sakayori added 2 commits July 31, 2024 17:51

fix json schema

ea2eaa4

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

fix spelling

486cfc0

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

go-sakayori mentioned this pull request Jul 31, 2024

feat(static_obstacle_avoidance): add force deactivation duration time autowarefoundation/autoware_launch#1101

Merged

4 tasks

go-sakayori marked this pull request as ready for review July 31, 2024 09:31

go-sakayori requested review from rej55, kyoichi-sugahara, satoshi-ota, shmpwk, TakaHoribe, TomohitoAndo, tkimura4 and zulfaqar-azmi-t4 as code owners July 31, 2024 09:31

go-sakayori assigned satoshi-ota Jul 31, 2024

satoshi-ota reviewed Jul 31, 2024

View reviewed changes

satoshi-ota approved these changes Jul 31, 2024

View reviewed changes

fix

22fa38d

Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>

satoshi-ota approved these changes Jul 31, 2024

View reviewed changes

go-sakayori added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 31, 2024

go-sakayori merged commit ab93dab into autowarefoundation:main Jul 31, 2024
37 of 39 checks passed

go-sakayori deleted the feat/avoidance_force_cancel branch July 31, 2024 10:45

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feat(static_obstacle_avoidance): force deactivation #8288

feat(static_obstacle_avoidance): force deactivation #8288

go-sakayori commented Jul 31, 2024 •

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satoshi-ota Jul 31, 2024

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codecov bot commented Jul 31, 2024 •

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	auto is_force_deactivated = registered_sl_force_deactivated("left", left_shift_array_) \|\|
	const auto is_force_deactivated = registered_sl_force_deactivated("left", left_shift_array_) \|\|

	auto registered_sl_force_deactivated =
	const auto registered_sl_force_deactivated =

feat(static_obstacle_avoidance): force deactivation #8288

feat(static_obstacle_avoidance): force deactivation #8288

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go-sakayori commented Jul 31, 2024 • edited Loading

Description

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How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

github-actions bot commented Jul 31, 2024 • edited Loading

satoshi-ota Jul 31, 2024

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