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refactor(lane_change): add missing safety check parameter #9928

Merged
merged 7 commits into from
Jan 16, 2025
Merged

refactor(lane_change): add missing safety check parameter #9928

merged 7 commits into from
Jan 16, 2025

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zulfaqar-azmi-t4
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Jan 15, 2025 •
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Description

Parameterized incoming object yaw threshold.
Related launcher

Related links

Parent Issue:

  • Link

How was this PR tested?

  1. PSIM
  2. Evaluator/TIER IV internal link

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type Parameter Name Type Default Value Description
Added collision_check.th_incoming_object_yaw double 2.3562 Objects with a heading difference from the ego exceeding this value are excluded from the safety check.
Added execution.extended_polygon_policy string rectangle Policy used to determine polygon's shape for safety check.
Added cancel.extended_polygon_policy string rectangle Policy used to determine polygon's shape for safety check.
Added stuck.extended_polygon_policy string rectangle Policy used to determine polygon's shape for safety check.
Added parked.extended_polygon_policy string rectangle Policy used to determine polygon's shape for safety check.

Effects on system behavior

None.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jan 15, 2025
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github-actions bot commented Jan 15, 2025 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 marked this pull request as draft January 15, 2025 22:18
@zulfaqar-azmi-t4
Readme
daaa625 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jan 15, 2025
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 marked this pull request as ready for review January 16, 2025 01:44
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 16, 2025
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 mentioned this pull request Jan 16, 2025
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codecov bot commented Jan 16, 2025 •
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Codecov Report

Attention: Patch coverage is 64.70588% with 6 lines in your changes missing coverage. Please review.

Project coverage is 29.23%. Comparing base (b69241f) to head (a062305).
Report is 10 commits behind head on main.

Files with missing lines Patch % Lines
...e_behavior_path_lane_change_module/src/manager.cpp 61.53% 3 Missing and 2 partials ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp 75.00% 1 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #9928      +/-   ##
==========================================
- Coverage   29.23%   29.23%   -0.01%     
==========================================
  Files        1426     1428       +2     
  Lines      107733   107775      +42     
  Branches    42199    42207       +8     
==========================================
+ Hits        31494    31505      +11     
- Misses      73192    73222      +30     
- Partials     3047     3048       +1
Flag Coverage Δ *Carryforward flag
differential 21.09% <64.70%> (?)
total 29.23% <ø> (-0.01%) ⬇️ Carriedforward from 349aa58

*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.

@zulfaqar-azmi-t4 @maxime-clem
Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…
fac0182 
…nge_module/src/manager.cpp

Co-authored-by: Maxime CLEMENT <[email protected]>
@zulfaqar-azmi-t4
Add missing parameters
d4e1c0d 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 changed the title refactor(lane_change): parameterize incoming object yaw threshold refactor(lane_change): add missing safety check parameter Jan 16, 2025
@zulfaqar-azmi-t4
missing dot
349aa58 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Jan 16, 2025
@zulfaqar-azmi-t4
update readme
21f6154 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@github-actions GitHub Actions
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Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9928/
Modified URLs:

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit 0bf689c into autowarefoundation:main Jan 16, 2025
24 of 26 checks passed
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the lc-filter-parameterize-obj-angle branch January 16, 2025 14:39
TetsuKawa pushed a commit to TetsuKawa/autoware.universe that referenced this pull request Jan 20, 2025
@zulfaqar-azmi-t4 @maxime-clem
@mkquda @TetsuKawa
refactor(lane_change): add missing safety check parameter (autowarefo…
581f311 
…undation#9928)

* refactor(lane_change): parameterize incoming object yaw threshold

Signed-off-by: Zulfaqar Azmi <[email protected]>

* Readme

Signed-off-by: Zulfaqar Azmi <[email protected]>

* Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp

Co-authored-by: Maxime CLEMENT <[email protected]>

* Add missing parameters

Signed-off-by: Zulfaqar Azmi <[email protected]>

* missing dot

Signed-off-by: Zulfaqar Azmi <[email protected]>

* Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md

Co-authored-by: mkquda <[email protected]>

* update readme

Signed-off-by: Zulfaqar Azmi <[email protected]>

---------

Signed-off-by: Zulfaqar Azmi <[email protected]>
Co-authored-by: Maxime CLEMENT <[email protected]>
Co-authored-by: mkquda <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
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Reviewers

@mkquda mkquda mkquda approved these changes

@maxime-clem maxime-clem maxime-clem approved these changes

@rej55 rej55 Awaiting requested review from rej55 rej55 is a code owner

@kosuke55 kosuke55 Awaiting requested review from kosuke55 kosuke55 is a code owner

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component:planning Route planning, decision-making, and navigation. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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