fix(traffic_light): stop if the traffic light signal timed out #5819

rej55 · 2023-12-08T08:09:46Z

Description

Before this change, traffic light module plans PASS if the traffic light signal is timed out.
In this PR, I changed the behavior of traffic light module as following:

If a corresponding traffic light signal have never been found, it treats as a signal to pass.
If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

Furthermore, in this PR, I add the parameter to prevent chattering.

Please merge following PR before merge this PR
autowarefoundation/autoware_launch#727

Tests performed

TIER IV INTERNAL TEST

Before:

Screencast.from.2023.12.08.17.08.51.webm

After:

Screencast.from.2023.12.08.17.03.53.webm

Notes for reviewers

Interface changes

stop_time_hysteresis is added as a parameter.

Effects on system behavior

The vehicle stops if the traffic light signal is timed out.

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.
The PR has been properly tested.
The PR has been reviewed by the code owners.

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.
The PR is ready for merge.

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

Signed-off-by: Fumiya Watanabe <[email protected]>

codecov · 2023-12-08T08:49:15Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (765a596) 15.32% compared to head (1ecf525) 17.89%.
Report is 190 commits behind head on main.

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5819       +/-   ##
===========================================
+ Coverage   15.32%   17.89%    +2.56%     
===========================================
  Files        1721        8     -1713     
  Lines      118559      598   -117961     
  Branches    37995      332    -37663     
===========================================
- Hits        18169      107    -18062     
+ Misses      79657      319    -79338     
+ Partials    20733      172    -20561

Flag	Coverage Δ
differential	`17.89% <ø> (?)`
total	`?`

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

Signed-off-by: Fumiya Watanabe <[email protected]>

…arefoundation#5819) * fix(traffic_light): stop if the traffic light signal timed out Signed-off-by: Fumiya Watanabe <[email protected]> * fix(traffic_light): fix README format Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]>

…arefoundation#5819) * fix(traffic_light): stop if the traffic light signal timed out Signed-off-by: Fumiya Watanabe <[email protected]> * fix(traffic_light): fix README format Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: karishma <[email protected]>

…arefoundation#5819) * fix(traffic_light): stop if the traffic light signal timed out Signed-off-by: Fumiya Watanabe <[email protected]> * fix(traffic_light): fix README format Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]>

…arefoundation#5819) (#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]>

…arefoundation#5819) (autowarefoundation#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]>

* feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota <[email protected]> * feat(map_loader): display curbstone as marker array (autowarefoundation#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <[email protected]> Co-authored-by: kminoda <[email protected]> * revert refactoring due to cherry-pick * feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): improve reuse of previous decision (#1017) * Do not directly reuse a prev stop point but project it on the new path Signed-off-by: Maxime CLEMENT <[email protected]> * Improve reuse of the previously inserted stop point Signed-off-by: Maxime CLEMENT <[email protected]> * Fix precision of inserted stop point Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]> * fix(system_monitor): output command line (autowarefoundation#5430) (#1057) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <[email protected]> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: pull tracking object merger from awf/main Signed-off-by: yoshiri <[email protected]> * feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (#1056) Co-authored-by: Mamoru Sobue <[email protected]> * fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> * fix(ndt_scan_matcher): delete unmerged feature * fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951) Fixed the lock scope in update_ndt Signed-off-by: Shintaro SAKODA <[email protected]> * fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (#1075) fix(utils): fix drivable area expansion logic for zebra zone Signed-off-by: satoshi-ota <[email protected]> * fix(bvp): traffic light state debug (#1083) Signed-off-by: Mehmet Dogru <[email protected]> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> * refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: Shohei Sakai <[email protected]> Signed-off-by: kminoda <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: takeshi.iwanari <[email protected]> Signed-off-by: yoshiri <[email protected]> Signed-off-by: yamato-ando <Yamato ANDO> Signed-off-by: Shintaro SAKODA <[email protected]> Signed-off-by: Mehmet Dogru <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: satoshi-ota <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Tomohito ANDO <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: yoshiri <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Shinnosuke Hirakawa <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: Mehmet Dogru <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]>

…arefoundation#5819) * fix(traffic_light): stop if the traffic light signal timed out Signed-off-by: Fumiya Watanabe <[email protected]> * fix(traffic_light): fix README format Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]>

fix(traffic_light): stop if the traffic light signal timed out

a82db7f

Signed-off-by: Fumiya Watanabe <[email protected]>

rej55 requested a review from TomohitoAndo December 8, 2023 08:09

rej55 requested review from satoshi-ota, shmpwk and tkimura4 as code owners December 8, 2023 08:09

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Dec 8, 2023

rej55 mentioned this pull request Dec 8, 2023

fix(traffic_light): stop if the traffic light signal timed out autowarefoundation/autoware_launch#727

Merged

7 tasks

rej55 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 8, 2023

satoshi-ota approved these changes Dec 8, 2023

View reviewed changes

fix(traffic_light): fix README format

1ecf525

Signed-off-by: Fumiya Watanabe <[email protected]>

rej55 enabled auto-merge (squash) December 11, 2023 01:50

rej55 merged commit 5d6cfef into autowarefoundation:main Dec 11, 2023
22 of 24 checks passed

rej55 deleted the fix/traffic_light_time_out_behavior branch December 11, 2023 03:06

tier4-autoware-public-bot bot mentioned this pull request Dec 20, 2023

chore: sync upstream tier4/autoware.universe#1078

Merged

tkimura4 mentioned this pull request Feb 1, 2024

fix(traffic_light): stop if the traffic light signal timed out (#5819) tier4/autoware.universe#1124

Merged

4 tasks

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

fix(traffic_light): stop if the traffic light signal timed out #5819

fix(traffic_light): stop if the traffic light signal timed out #5819

rej55 commented Dec 8, 2023 •

edited

Loading

codecov bot commented Dec 8, 2023 •

edited

Loading

fix(traffic_light): stop if the traffic light signal timed out #5819

fix(traffic_light): stop if the traffic light signal timed out #5819

Conversation

rej55 commented Dec 8, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

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

codecov bot commented Dec 8, 2023 • edited Loading

Codecov Report

rej55 commented Dec 8, 2023 •

edited

Loading

codecov bot commented Dec 8, 2023 •

edited

Loading