fix(behavior_path_planner): if ego leaves the current lane turn the signal on #4348

beyzanurkaya · 2023-07-20T15:11:13Z

Description

This PR provides when turn_signal_on_swerving param is set to false; if EGO has to leave its lane because of to avoid an obstacle it'll turn the signal on

Tests performed

Before this PR:

After this PR:

Not applicable.

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

Summary by CodeRabbit

Release Notes:

New Feature: Added support for calculating turn signal information based on the turn_signal_on_swerving parameter in the AvoidanceModule.
New Feature: Implemented intersection checks with lane bounds in the IntersectionChecker class.
New Feature: Created a vehicle footprint and updated the logic for creating it in the VehicleFootprint class.
Refactor: Introduced new type aliases for geometric types in the AvoidanceTypes namespace.
Refactor: Updated member variables and function declarations in the AvoidanceModule, IntersectionChecker, and VehicleFootprint classes.
Chore: Added a new source file to the CMakeLists.txt file.

"In paths we swerve, avoiding strife,
Geometric types guide our life.
Turn signals calculated true,
Intersection checks, we now do.
Vehicle footprint, clear and bright,
Code refactored, shining light.
With each change, we strive for more,
Building a module we adore."

codecov · 2023-07-26T19:20:47Z

Codecov Report

Attention: 12 lines in your changes are missing coverage. Please review.

Comparison is base (14ef695) 14.78% compared to head (91279f5) 14.78%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4348   +/-   ##
=======================================
  Coverage   14.78%   14.78%           
=======================================
  Files        1636     1636           
  Lines      113602   113594    -8     
  Branches    34913    34913           
=======================================
  Hits        16793    16793           
+ Misses      77968    77959    -9     
- Partials    18841    18842    +1

Flag	Coverage Δ		*Carryforward flag
differential	`12.53% <0.00%> (?)`
total	`14.78% <ø> (+<0.01%)`	⬆️	Carriedforward from 14ef695

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

Files	Coverage Δ
...ehavior_velocity_intersection_module/src/debug.cpp	`0.00% <ø> (ø)`
...ity_intersection_module/src/scene_intersection.cpp	`0.00% <ø> (ø)`
...behavior_velocity_intersection_module/src/util.cpp	`0.00% <ø> (ø)`
...ior_velocity_intersection_module/src/util_type.hpp	`0.00% <ø> (ø)`
...em_monitor/src/process_monitor/process_monitor.cpp	`0.00% <ø> (ø)`
...er/src/scene_module/avoidance/avoidance_module.cpp	`12.21% <0.00%> (-0.11%)`	⬇️

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

mehmetdogru · 2023-07-27T10:59:26Z

@beyzanurkaya do we have issue related to this PR? If so please relate these two.

Can you also give more detail about the PR as well such as with videos, screenshots, text etc

mehmetdogru · 2023-07-27T12:51:41Z

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

+    for (const auto & cl : *debug_data_.current_lanelets) {
+      const auto neigbor_lane = planner_data_->route_handler->getAllSharedLineStringLanelets(cl);
+      for (const auto & lane : neigbor_lane) {
+        LinearRing2d lane_points;
+        for (const auto & p : lane.polygon2d().basicPolygon()) {
+          lane_points.push_back(Point2d(p.x(), p.y()));
+        }
+        if (boost::geometry::intersects(path_points, lane_points)) {
+          if (segment_shift_length > 0.0) {
+            turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
+          } else {
+            turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
+          }
+        }
+      }
+    }


I think it better to use the points of shifted_path where in the range of shift segment instead of iterating all the path points.( only the path points between front_shift_line.start_idx and front_shift_line.end_idx should be enough )

Instead of using lanelet polygon you can use current lane's right and left bound. (If segment_shift_length > 0.0 then get left bound and if segment_shift_length < 0.0 get right bound ) ✔️

It is not realistic to use path points for intersection because what matter in this scenario is that vehicle polygon is exceeding the current lane or not (means occupying any neighbor lane). So you should use vehicle dimensions and transform ego polygon to related path points
Edit: If you don't transform ego vehicle polygon onto related path points (related path points explained in the first item) which is what the current implementation does ego vehicle will turn on the signal just only when is actually out of lane. What we want is to signal before the vehicle is actually out of lane bounds.

Please add some comment lines which explain your purpose ✔️

Instead of using lanelet polygon you can use current lane's right and left bound. (If segment_shift_length > 0.0 then get left bound and if segment_shift_length < 0.0 get right bound )

I think this is simple and good solution to achieve what you want to do, too.

@beyzanurkaya please make sure that you actually applied the necessary changes before you resolve the conversation. 😄 Please take a look at unresolved conversion above.

satoshi-ota · 2023-08-02T23:10:53Z

Hi @beyzanurkaya @mehmetdogru ✋ Sorry for late response, and thanks for you fixing.
I'll run evaluator with this PR if this PR is ready. Before that, could you check some suggestions?

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

mehmetdogru · 2023-08-03T05:51:26Z

@satoshi-ota I changed to PR status to draft now since @beyzanurkaya will work on it.

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

Signed-off-by: beyza <[email protected]>

beyzanurkaya · 2023-09-29T08:41:23Z

@satoshi-ota I made some changes could you review again?

satoshi-ota · 2023-10-01T10:36:09Z

@satoshi-ota I made some changes could you review again?

Sure!

satoshi-ota

LGTM 👍

solved it

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jul 20, 2023

beyzanurkaya self-assigned this Jul 24, 2023

beyzanurkaya force-pushed the fix/turn-off-signal-when-avoiding branch 2 times, most recently from 2fbac43 to 90d20cb Compare July 25, 2023 16:13

beyzanurkaya marked this pull request as ready for review July 25, 2023 16:13

beyzanurkaya requested review from rej55, kosuke55, kyoichi-sugahara, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, tkimura4, purewater0901 and zulfaqar-azmi-t4 as code owners July 25, 2023 16:13

kosuke55 assigned satoshi-ota Jul 26, 2023

mehmetdogru added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 26, 2023

mehmetdogru requested changes Jul 27, 2023

View reviewed changes

satoshi-ota reviewed Aug 2, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Outdated Show resolved Hide resolved

satoshi-ota reviewed Aug 2, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Outdated Show resolved Hide resolved

satoshi-ota reviewed Aug 2, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Outdated Show resolved Hide resolved

satoshi-ota reviewed Aug 2, 2023

View reviewed changes

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Outdated Show resolved Hide resolved

mehmetdogru marked this pull request as draft August 3, 2023 05:49

beyzanurkaya changed the title ~~fix(behavior_path_planner): if ego changes lanes turn the signal on~~ fix(behavior_path_planner): if ego leaves the current lane turn the signal on Aug 6, 2023

beyzanurkaya force-pushed the fix/turn-off-signal-when-avoiding branch from b7f15b7 to f86ceea Compare August 6, 2023 22:12

beyzanurkaya force-pushed the fix/turn-off-signal-when-avoiding branch from 208aeec to f309b07 Compare August 31, 2023 07:56

beyzanurkaya marked this pull request as ready for review August 31, 2023 07:57

beyzanurkaya force-pushed the fix/turn-off-signal-when-avoiding branch from cb3e542 to 72b2791 Compare August 31, 2023 12:15

mehmetdogru force-pushed the fix/turn-off-signal-when-avoiding branch from 3009908 to 09df2cd Compare September 13, 2023 08:03

mehmetdogru added run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) and removed run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Sep 13, 2023

mehmetdogru previously requested changes Sep 14, 2023

View reviewed changes

beyzanurkaya force-pushed the fix/turn-off-signal-when-avoiding branch 2 times, most recently from 539a774 to f2e6ffa Compare September 26, 2023 07:54

if ego leaves its lane due the avoidance, turn the signal on

57d1b2d

Signed-off-by: beyza <[email protected]>

beyzanurkaya force-pushed the fix/turn-off-signal-when-avoiding branch from f2e6ffa to 57d1b2d Compare September 26, 2023 07:54

mehmetdogru added run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) and removed run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Sep 26, 2023

beyza and others added 2 commits September 26, 2023 13:11

add right_bound check

ce0effb

Signed-off-by: beyza <[email protected]>

style(pre-commit): autofix

a1df3a1

satoshi-ota approved these changes Oct 1, 2023

View reviewed changes

Merge branch 'main' into fix/turn-off-signal-when-avoiding

91279f5

beyzanurkaya enabled auto-merge (squash) October 2, 2023 08:26

beyzanurkaya merged commit c6b802f into autowarefoundation:main Oct 2, 2023

This was referenced Oct 11, 2023

chore: sync upstream tier4/autoware.universe#927

Merged

chore: sync upstream tier4/autoware.universe#928

Merged

beyzanurkaya deleted the fix/turn-off-signal-when-avoiding branch November 1, 2023 10:58

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

fix(behavior_path_planner): if ego leaves the current lane turn the signal on #4348

fix(behavior_path_planner): if ego leaves the current lane turn the signal on #4348

beyzanurkaya commented Jul 20, 2023 •

edited by satoshi-ota

Loading

codecov bot commented Jul 26, 2023 •

edited

Loading

mehmetdogru commented Jul 27, 2023 •

edited

Loading

mehmetdogru Jul 27, 2023 •

edited

Loading

satoshi-ota Aug 2, 2023 •

edited

Loading

mehmetdogru Aug 11, 2023 •

edited

Loading

satoshi-ota commented Aug 2, 2023 •

edited

Loading

mehmetdogru commented Aug 3, 2023

beyzanurkaya commented Sep 29, 2023

satoshi-ota commented Oct 1, 2023

satoshi-ota left a comment

fix(behavior_path_planner): if ego leaves the current lane turn the signal on #4348

fix(behavior_path_planner): if ego leaves the current lane turn the signal on #4348

Conversation

beyzanurkaya commented Jul 20, 2023 • edited by satoshi-ota Loading

Description

Tests performed

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

Summary by CodeRabbit

codecov bot commented Jul 26, 2023 • edited Loading

Codecov Report

mehmetdogru commented Jul 27, 2023 • edited Loading

mehmetdogru Jul 27, 2023 • edited Loading

Choose a reason for hiding this comment

satoshi-ota Aug 2, 2023 • edited Loading

Choose a reason for hiding this comment

mehmetdogru Aug 11, 2023 • edited Loading

Choose a reason for hiding this comment

satoshi-ota commented Aug 2, 2023 • edited Loading

mehmetdogru commented Aug 3, 2023

beyzanurkaya commented Sep 29, 2023

satoshi-ota commented Oct 1, 2023

satoshi-ota left a comment

Choose a reason for hiding this comment

beyzanurkaya commented Jul 20, 2023 •

edited by satoshi-ota

Loading

codecov bot commented Jul 26, 2023 •

edited

Loading

mehmetdogru commented Jul 27, 2023 •

edited

Loading

mehmetdogru Jul 27, 2023 •

edited

Loading

satoshi-ota Aug 2, 2023 •

edited

Loading

mehmetdogru Aug 11, 2023 •

edited

Loading

satoshi-ota commented Aug 2, 2023 •

edited

Loading