fix(behavior_velocity_planner): consider all the lane ids in path #1630

takayuki5168 · 2022-08-19T03:32:35Z

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

With this PR, the path point sometimes has more than 2 lane_ids which cannot be dealt with in some behavior_velocity_planner's module.
#1626

So I fixed behavior_velocity_planner to consider all the lane ids in the path from behavior_path_planner.

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.

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 · 2022-08-19T03:38:22Z

planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp

  if (last_itr.base() != path.points.end()) {
-    const auto & next_lanelet =
-      lanelet_map_ptr->laneletLayer.get((*last_itr.base()).lane_ids.front());
+    const auto & next_lanelet = lanelet_map_ptr->laneletLayer.get(lane_id_);
    ego_lane_with_next_lane = {assigned_lanelet, next_lanelet};


Is this change OK? @soblin

You do not need to change L683-684 because last_itr should still be the last PathWithPointWithLaneId that contains lane_id_ in it. Just FYI, last_itr.base() returns its next element.

Okay, I reverted.
9c99e64

takayuki5168 · 2022-08-19T03:38:47Z

@taikitanaka3 @soblin Could you review this

planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp

codecov · 2022-08-19T04:10:50Z

Codecov Report

Merging #1630 (40daefb) into main (9f451b4) will decrease coverage by 0.07%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1630      +/-   ##
==========================================
- Coverage   10.77%   10.69%   -0.08%     
==========================================
  Files        1111     1111              
  Lines       78530    79787    +1257     
  Branches    18554    19374     +820     
==========================================
+ Hits         8464     8537      +73     
- Misses      61206    62301    +1095     
- Partials     8860     8949      +89

Flag	Coverage Δ		*Carryforward flag
differential	`4.71% <0.00%> (?)`
total	`10.76% <0.00%> (ø)`		Carriedforward from 9c99e64

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

Impacted Files	Coverage Δ
...city_planner/src/scene_module/blind_spot/scene.cpp	`0.00% <0.00%> (ø)`
...c/scene_module/intersection/scene_intersection.cpp	`0.00% <0.00%> (ø)`
...city_planner/include/utilization/arc_lane_util.hpp	`28.35% <0.00%> (-12.07%)`	⬇️
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	`8.33% <0.00%> (-0.33%)`	⬇️
...vior_velocity_planner/include/utilization/util.hpp	`0.00% <0.00%> (ø)`
...ocity_planner/src/scene_module/crosswalk/debug.cpp	`0.00% <0.00%> (ø)`
...ocity_planner/src/scene_module/run_out/manager.cpp	`0.00% <0.00%> (ø)`
...ity_planner/src/scene_module/intersection/util.cpp	`0.00% <0.00%> (ø)`
..._planner/src/scene_module/detection_area/scene.cpp	`0.00% <0.00%> (ø)`
... and 10 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

soblin · 2022-08-19T04:17:40Z

planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp

+          return true;
+        }
+      }
+      return false;


return std::find(p.lane_ids.begin(), p.lane_ids.end(), lane_id_) != p.lane_ids.end() ?

You're right. It's much better. Thanks.
9c99e64

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…er4#1630) * fix(behavior_velocity_planner): consider all the lane ids in path Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove obsolete comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…towarefoundation#1630) * fix(behavior_velocity_planner): consider all the lane ids in path Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove obsolete comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…er4#1630) * fix(behavior_velocity_planner): consider all the lane ids in path Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove obsolete comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

fix(behavior_velocity_planner): consider all the lane ids in path

a236d44

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 force-pushed the fix/consider-all-lane-ids branch from ff007a5 to a236d44 Compare August 19, 2022 03:36

remove obsolete comment

fa00ec4

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 commented Aug 19, 2022

View reviewed changes

takayuki5168 marked this pull request as ready for review August 19, 2022 03:38

takayuki5168 requested review from taikitanaka3 and soblin August 19, 2022 03:38

taikitanaka3 reviewed Aug 19, 2022

View reviewed changes

planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp Show resolved Hide resolved

soblin reviewed Aug 19, 2022

View reviewed changes

takayuki5168 added 2 commits August 19, 2022 13:25

fix

9c99e64

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

fix

40daefb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

taikitanaka3 approved these changes Aug 19, 2022

View reviewed changes

soblin approved these changes Aug 21, 2022

View reviewed changes

takayuki5168 merged commit ae56406 into autowarefoundation:main Aug 22, 2022

takayuki5168 deleted the fix/consider-all-lane-ids branch August 22, 2022 00:50

tier4-autoware-public-bot bot mentioned this pull request Aug 23, 2022

chore: sync upstream tier4/autoware.universe#91

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

fix(behavior_velocity_planner): consider all the lane ids in path #1630

fix(behavior_velocity_planner): consider all the lane ids in path #1630

takayuki5168 commented Aug 19, 2022 •

edited

Loading

takayuki5168 Aug 19, 2022

soblin Aug 19, 2022 •

edited

Loading

takayuki5168 Aug 19, 2022

takayuki5168 commented Aug 19, 2022

codecov bot commented Aug 19, 2022 •

edited

Loading

soblin Aug 19, 2022

takayuki5168 Aug 19, 2022

fix(behavior_velocity_planner): consider all the lane ids in path #1630

fix(behavior_velocity_planner): consider all the lane ids in path #1630

Conversation

takayuki5168 commented Aug 19, 2022 • edited Loading

Description

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

takayuki5168 Aug 19, 2022

Choose a reason for hiding this comment

soblin Aug 19, 2022 • edited Loading

Choose a reason for hiding this comment

takayuki5168 Aug 19, 2022

Choose a reason for hiding this comment

takayuki5168 commented Aug 19, 2022

codecov bot commented Aug 19, 2022 • edited Loading

Codecov Report

soblin Aug 19, 2022

Choose a reason for hiding this comment

takayuki5168 Aug 19, 2022

Choose a reason for hiding this comment

takayuki5168 commented Aug 19, 2022 •

edited

Loading

soblin Aug 19, 2022 •

edited

Loading

codecov bot commented Aug 19, 2022 •

edited

Loading