fix(obstacle_avoidance_planner): solution of changing the sampling distance of behavior velocity planner causing obstacle avoidance planner to die #1369

shulanbushangshu · 2022-07-19T06:53:35Z

Description

When changing the sampling length in the"behavior_velocity_planner" node, the "obstacle_avoidance_planner"node will die.
The length in the "obstacle_avoidance_planner" node is 5 (fixed). When it is changed to a value greater than 5 in the "behavior_velocity_planner"node, the "obstacle_avoidance_planner" node will die when the vehicle reaches the destination.

Tests performed

Current simulation:

Modified simulation:

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…er-causing-obstacle_avoidance_planner-to-die Signed-off-by: jack.song <jack.song@autocore.ai>

…stance-of-behavior_velocity_planner-causing-obstacle_avoidance_planner-to-die Signed-off-by: jack.song <jack.song@autocore.ai>

codecov · 2022-07-19T07:05:27Z

Codecov Report

Merging #1369 (d3aa60e) into main (797389d) will decrease coverage by 0.19%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1369      +/-   ##
========================================
- Coverage   9.63%   9.44%   -0.20%     
========================================
  Files       1097    1096       -1     
  Lines      77242   76707     -535     
  Branches   17748   16991     -757     
========================================
- Hits        7445    7244     -201     
- Misses     62548   62851     +303     
+ Partials    7249    6612     -637

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`9.49% <0.00%> (-0.13%)`	⬇️	Carriedforward from 885a6f6

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

Impacted Files	Coverage Δ
planning/obstacle_avoidance_planner/src/node.cpp	`0.00% <0.00%> (ø)`
...include/tier4_autoware_utils/geometry/geometry.hpp	`91.04% <0.00%> (-4.27%)`	⬇️
...t/src/geometry/test_path_with_lane_id_geometry.cpp	`48.48% <0.00%> (-4.02%)`	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	`37.11% <0.00%> (-1.04%)`	⬇️
...vior_velocity_planner/include/utilization/util.hpp	`3.84% <0.00%> (-0.33%)`	⬇️
...anning_evaluator/src/metrics/stability_metrics.cpp	`92.85% <0.00%> (-0.25%)`	⬇️
...autoware_utils/test/src/geometry/test_geometry.cpp	`40.57% <0.00%> (-0.12%)`	⬇️
planning/behavior_velocity_planner/src/node.cpp	`0.45% <0.00%> (-0.01%)`	⬇️
planning/behavior_path_planner/src/utilities.cpp	`1.05% <0.00%> (-0.01%)`	⬇️
perception/tensorrt_yolo/src/nodelet.cpp	`0.00% <0.00%> (ø)`
... and 119 more

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shulanbushangshu · 2022-07-19T07:53:55Z

@kosuke55

planning/obstacle_avoidance_planner/src/node.cpp

taikitanaka3 · 2022-07-19T08:35:15Z

@shulanbushangshu
Thank you for your PR. Your branch looks this PR is not included #1320
can you include this PR and test this again?

shulanbushangshu · 2022-07-19T08:49:31Z

@taikitanaka3 .Thank you for your review,I will confirm the code and retest

shulanbushangshu · 2022-07-19T09:23:51Z

@taikitanaka3 @kosuke55 ,I have confirmed the code and retest:

Modified simulation:

taikitanaka3 · 2022-07-19T09:26:12Z

@shulanbushangshu
Thank you. Modified simulation will not die at obstacle avoidance planner ~~but dies at behavior velocity planner~~?

…stance-of-behavior_velocity_planner-causing-obstacle_avoidance_planner-to-die Signed-off-by: jack.song <jack.song@autocore.ai>

taikitanaka3 · 2022-07-19T10:43:52Z

@shulanbushangshu I've tested with this PR as you suggests ego can't goal
without this PR

with this PR

Do you have any good suggestion to arrive goal?

takayuki5168 · 2022-07-20T00:54:15Z

Thank you for your discussion.
I'll look into the problem to realize both reaching the goal and the node keeping alive. Please wait a bit.

Signed-off-by: jack.song <jack.song@autocore.ai>

shulanbushangshu · 2022-07-20T03:22:45Z

@taikitanaka3 @takayuki5168
Thank you for your review.I fix the problem of not reaching the goal.Can you check it?

taikitanaka3 · 2022-07-20T03:52:46Z

@shulanbushangshu
Thank you , but build is failed because of writing const value.
@takayuki5168
~~FYI with this change I confirm this problem is fixed~~

taikitanaka3 · 2022-07-20T03:53:35Z

planning/obstacle_avoidance_planner/src/node.cpp

@@ -1486,6 +1486,9 @@ ObstacleAvoidancePlanner::alignVelocity(
  size_t prev_begin_idx = 0;
  for (size_t i = 0; i < fine_traj_points_with_vel.size(); ++i) {
    const auto truncated_points = points_utils::clipForwardPoints(path_points, prev_begin_idx, 5.0);


Suggested change

const auto truncated_points = points_utils::clipForwardPoints(path_points, prev_begin_idx, 5.0);

auto truncated_points = points_utils::clipForwardPoints(path_points, prev_begin_idx, 5.0);

I think truncated_points.assign(path_points.begin(), path_points.end()); is O
but I found an odd behavior please wait for murooka-san
https://user-images.githubusercontent.com/65527974/179894007-63cfcd49-b4a1-47b3-8e65-1be2bfa0add3.mp4

Signed-off-by: jack.song <jack.song@autocore.ai>

…sampling-distance-of-behavior_velocity_planner-causing-obstacle_avoidance_planner-to-die

shulanbushangshu · 2022-07-20T04:53:53Z

@taikitanaka3 Yes,I forget to change the "const".I fix it.

taikitanaka3 · 2022-07-27T03:36:29Z

@shulanbushangshu
If i am not wrong this bug is only reproduces with setting behavior velocity planner sampling interval more than 5m,
and that setting is not suitable for autonomous driving. If this problem happens for normal driving case with sampling interval 1.0m this bug is high priority, if not I think we can set this PR low priority. what do you think?

shulanbushangshu · 2022-07-27T10:09:12Z

@taikitanaka3 OK,we can set this PR low priority

xmfcx · 2022-08-09T16:00:29Z

@shulanbushangshu can you provide steps to reproduce this issue and show that your solution fixes it?

@Sharrrrk will discuss this PR internally.

takayuki5168 · 2022-08-10T07:36:27Z

@shulanbushangshu @xmfcx @Sharrrrk cc @mitsudome-r
Sorry to be late. Your change can solve the issue, but I guess there may be a better code. Let me implement it, and I'll let you know in a few days.

takayuki5168 · 2022-08-18T06:22:20Z

@shulanbushangshu @taikitanaka3
I created another PR to make commit history clear. Could you review this.
#1616

takayuki5168 · 2022-08-19T00:53:19Z

@shulanbushangshu @xmfcx @Sharrrrk
We can close this PR since I merged another PR for the issue. Let me know if there is another bug.
#1616

shulanbushangshu · 2022-08-19T01:55:32Z

@takayuki5168
Yes,I have simulated the new code and it works well.I will close this PR.

…-election-converter feat: add leader election converter

shulanbushangshu added 2 commits July 19, 2022 14:14

solution-of-changing-the-sampling-distance-of-behavior_velocity_plann…

7914bc7

…er-causing-obstacle_avoidance_planner-to-die Signed-off-by: jack.song <jack.song@autocore.ai>

fix(obstacle_avoidance_planner): solution-of-changing-the-sampling-di…

2ee1ea9

…stance-of-behavior_velocity_planner-causing-obstacle_avoidance_planner-to-die Signed-off-by: jack.song <jack.song@autocore.ai>

shulanbushangshu requested a review from kosuke55 July 19, 2022 06:54

kosuke55 requested a review from takayuki5168 July 19, 2022 07:56

taikitanaka3 reviewed Jul 19, 2022

View reviewed changes

planning/obstacle_avoidance_planner/src/node.cpp Outdated Show resolved Hide resolved

fix(obstacle_avoidance_planner): solution-of-changing-the-sampling-di…

1e99189

…stance-of-behavior_velocity_planner-causing-obstacle_avoidance_planner-to-die Signed-off-by: jack.song <jack.song@autocore.ai>

shulanbushangshu requested a review from taikitanaka3 July 19, 2022 09:42

shulanbushangshu added 2 commits July 20, 2022 11:11

fix-to-reach-goal

f88d3c3

Signed-off-by: jack.song <jack.song@autocore.ai>

fix-to-reach-goal

dbc12e3

Signed-off-by: jack.song <jack.song@autocore.ai>

taikitanaka3 reviewed Jul 20, 2022

View reviewed changes

shulanbushangshu and others added 3 commits July 20, 2022 12:40

fix-to-reach-goal

66d67ea

Signed-off-by: jack.song <jack.song@autocore.ai>

ci(pre-commit): autofix

885a6f6

Merge branch 'autowarefoundation:main' into solution-of-changing-the-…

d3aa60e

…sampling-distance-of-behavior_velocity_planner-causing-obstacle_avoidance_planner-to-die

shulanbushangshu requested a review from taikitanaka3 July 20, 2022 04:47

taikitanaka3 added priority:low Lower urgency, can be addressed later. component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Jul 28, 2022

takayuki5168 mentioned this pull request Aug 18, 2022

fix(obstacle_avoidance_planner): deal with wider path interval #1616

Merged

7 tasks

shulanbushangshu closed this Aug 19, 2022

TetsuKawa added a commit to TetsuKawa/autoware.universe that referenced this pull request Jul 2, 2024

Merge pull request autowarefoundation#1369 from tier4/feat/add-leader…

81f51f5

…-election-converter feat: add leader election converter

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fix(obstacle_avoidance_planner): solution of changing the sampling distance of behavior velocity planner causing obstacle avoidance planner to die #1369

fix(obstacle_avoidance_planner): solution of changing the sampling distance of behavior velocity planner causing obstacle avoidance planner to die #1369

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shulanbushangshu commented Aug 19, 2022

	const auto truncated_points = points_utils::clipForwardPoints(path_points, prev_begin_idx, 5.0);
	auto truncated_points = points_utils::clipForwardPoints(path_points, prev_begin_idx, 5.0);

fix(obstacle_avoidance_planner): solution of changing the sampling distance of behavior velocity planner causing obstacle avoidance planner to die #1369

fix(obstacle_avoidance_planner): solution of changing the sampling distance of behavior velocity planner causing obstacle avoidance planner to die #1369

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