feat(goal_planner): secure lateral distance for path planning with corresponding to the centrifugal force #5196
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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
…module" can handle the ego_polygons Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
fix the handling miss of sign of value Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5196 +/- ##
==========================================
+ Coverage 14.77% 14.80% +0.02%
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Files 1636 1636
Lines 113635 114884 +1249
Branches 34932 35830 +898
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+ Hits 16793 17005 +212
- Misses 78001 78868 +867
- Partials 18841 19011 +170
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kosuke55
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...path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
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planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
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planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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Thank you Takeuchi-san. |
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| const auto ego_polygons_expanded = | ||
| utils::path_safety_checker::generatePolygonsWithStoppingAndInertialMargin( | ||
| path, base_link2front, base_link2rear, vehicle_width, parameters_->maximum_deceleration, | ||
| parameters_->object_recognition_collision_check_max_extra_stopping_margin); | ||
| debug_data_.ego_polygons_expanded = ego_polygons_expanded; | ||
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| return utils::path_safety_checker::checkCollisionWithMargin( | ||
| ego_polygons_expanded, pull_over_lane_stop_objects, | ||
| parameters_->object_recognition_collision_check_margin); |
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I noticed the size of polygon visualized and used for the collision check is different.
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Oct 3, 2023
…rresponding to the centrifugal force (autowarefoundation#5196) * add feature to plan the path with considering latral overshoot Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * separate a function in "safety_check" in order to that "goal_planner_module" can handle the ego_polygons Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * add visualization codes fix the handling miss of sign of value Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * refactor codes based on comments in the PR Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
This was referenced Oct 11, 2023
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Description
goal_planner module secure lateral distance for its path planning with corresponding to the centrifugal force
Tests performed
Psim test was performed as figures bellow.
Raw values in the new functions seems to appropriate.
Screencast from 10-03-2023 02:47:20 PM.webm
Effects on system behavior
The approaching paths become to secure lateral distance.
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