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fix(behavior_velocity_planner): lower stop decision velocity #525

Merged
merged 1 commit into from
Mar 16, 2022
Merged

fix(behavior_velocity_planner): lower stop decision velocity #525

merged 1 commit into from
Mar 16, 2022

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@mkuri mkuri commented Mar 15, 2022 •
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Signed-off-by: Makoto Kurihara mkuri8m@gmail.com

Related Issue(required)

Resolves #524

Description(required)

The behavior velocity planner's threshold for determining whether a vehicle has stopped is 0.1 m/s^2, which means that the vehicle still has speed.
In order to determine a complete stop, the threshold was changed from 0.1m/s^2 to 10e-3m/s^2.

Review Procedure(required)

Confirm that the ego vehicle's velocity falls below 10e-3m/s^2 and the stop line is released

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@mkuri
fix(behavior_velocity_planner): lower stop decision velocity
c44e2f0 
Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
@mkuri mkuri requested a review from tkimura4 March 15, 2022 18:27
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codecov bot commented Mar 15, 2022

Codecov Report

Merging #525 (c44e2f0) into main (976712b) will decrease coverage by 4.72%.
The diff coverage is n/a.

@@            Coverage Diff            @@
##             main    #525      +/-   ##
=========================================
- Coverage   10.96%   6.24%   -4.73%     
=========================================
  Files         705      70     -635     
  Lines       49807    4983   -44824     
  Branches     7119     697    -6422     
=========================================
- Hits         5462     311    -5151     
+ Misses      39959    4527   -35432     
+ Partials     4386     145    -4241
Impacted Files Coverage Δ
...include/behavior_velocity_planner/planner_data.hpp 0.00% <ø> (ø)
...nclude/system_error_monitor/diagnostics_filter.hpp
...clude/object_detection/tracked_objects_display.hpp
...ission_planner/lanelet2_impl/utility_functions.hpp
...or_path_planner/src/behavior_path_planner_node.cpp
...em_monitor/src/gpu_monitor/unknown_gpu_monitor.cpp
...rception_rviz_plugin/src/tools/pedestrian_pose.hpp
...lude/behavior_path_planner/turn_signal_decider.hpp
...pcl_modified/include/ndt_pcl_modified/impl/ndt.hpp
...ose_button_panel/src/initial_pose_button_panel.cpp
... and 626 more

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Powered by Codecov. Last update 976712b...c44e2f0. Read the comment docs.

tkimura4
tkimura4 approved these changes Mar 16, 2022
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LGTM

@tkimura4 tkimura4 merged commit 88bc700 into autowarefoundation:main Mar 16, 2022
mkuri added a commit to mkuri/autoware.universe that referenced this pull request Mar 16, 2022
@mkuri
fix(behavior_velocity_planner): lower stop decision velocity (autowar…
14cb780 
…efoundation#525)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
@mkuri mkuri mentioned this pull request Mar 16, 2022
Merged
7 tasks
mkuri referenced this pull request in tier4/autoware.universe Mar 16, 2022
@mkuri
fix(behavior_velocity_planner): lower stop decision velocity (#525) (#26
4e2ff41 
)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
pull bot pushed a commit to kenji-miyake/autoware.universe that referenced this pull request Mar 16, 2022
@taikitanaka3 @wep21
@kenji-miyake @tkimura4 @YoheiMishina @pre-commit-ci
feat: add goal distance calculator package (#36)
b725734 
* Feature/goal distance calculator (#311)

* add initial package

* half lint

* pass cpplint

* add pose deviation

* add autoware utils

* fix prefix

* beautify

* add ament copyright

* fix ament format

* fix param name

* refactor param

* refactor params

* [goal_sistance_calculator]: Fix CMakeLists.txt

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>

* ros2-v0.8.0-goal_distance_calulator (#319)

* update to component

* refactor node name

* Ros2 v0.8.0 lane departure checker (#327)

* Add lane departure checker (autowarefoundation#928)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix bug of lane_departure_checker (autowarefoundation#1011)

* Fix bug of lane_departure_checker

Since preceeding lanelets are missing, when vehicle is at the beginning of a lanelet, it's mistakenly considered as out of lane.

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix typo

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Reduce computational cost of lane_departure_checker (autowarefoundation#1026)

Lanelet visualization will be too slow when big lanelets are visualized.

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix typo (autowarefoundation#1062)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* [lane_departure_checker]: Port to ROS2

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [lane_departure_checker]: Fix lint

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [autoware_utils]: Publish autoware debug msgs

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [lane_departure_checker]: Use autoware_debug_msgs instead of std_msgs

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [goal_distance_calculator]: Use autoware_debug_msgs instead of std_msgs

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [autoware_utils]: Add namespace to debug traits

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [lane_departure_checker]: Fix lint

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Rename ROS-related .yaml to .param.yaml (#352)

* Rename ROS-related .yaml to .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove prefix 'default_' of yaml files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename diagnostic_aggregator's param files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix overlooked parameters

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* add use_sim-time option (autowarefoundation#454)

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* goal_distance_calculator port to .auto (autowarefoundation#525)

* goal_distance_calculator port to .auto

* Fix formatting

* Fix pre commit

* [goal_distance_calculator]add readme (autowarefoundation#545)

* add readme

* Update common/util/goal_distance_calculator/Readme.md

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* fix format

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

* [path_distance_calculator]add readme (autowarefoundation#547)

* add readme of path_distance_calculator

* update readme

* fix readme

* update description

* ci(pre-commit): autofix

Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Mar 17, 2022
Merged
@mkuri mkuri deleted the fix/vehicle-stop-velocity branch March 31, 2022 09:20
taikitanaka3 referenced this pull request in tier4/autoware.universe Apr 8, 2022
@mkuri @t4-x2
fix(behavior_velocity_planner): lower stop decision velocity (#525)
fe7e987 
Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
satoshi-ota pushed a commit to satoshi-ota/autoware.universe that referenced this pull request May 20, 2022
@mkuri @satoshi-ota
fix(behavior_velocity_planner): lower stop decision velocity (autowar…
64939e2 
…efoundation#525) (autowarefoundation#26)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
kosuke55 pushed a commit to kosuke55/autoware.universe that referenced this pull request May 29, 2023
@shmpwk
Merge pull request autowarefoundation#525 from tier4/hotfix/behavior-…
7dc3338 
…path

feat(behavior_path_planner): output stop reasons (autowarefoundation#3807)
kyoichi-sugahara pushed a commit that referenced this pull request Sep 16, 2023
@KeisukeShima @kenji-miyake
ci: add matrix for update-beta-branch (#525)
4a3e8c2 
* add set-matrix job

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* test update-beta-branch

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* fix script

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* remove debug script

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* Update .github/workflows/update-beta-branch.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Update .github/workflows/update-beta-branch.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* remove sd

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* Update .github/workflows/update-beta-branch.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* fix beta branch name

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* rename from set-matrix to search-beta-branch

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* add if statement to avoid error

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

* Update .github/workflows/update-beta-branch.yaml

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* apply minor changes

* Update .github/workflows/update-beta-branch.yaml

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@takayuki5168
feat(autoware_launch): add suppress_sudden_obstacle_stop in obstacle_…
03ed82b 
…cruise_planner (autowarefoundation#525)

* feat(autoware_launch): add suppress_sudden_obstacle_stop in obstacle_cruise_planner

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

* update

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

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Re-starting before the ego vehicle stops completely at stop lines
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@mkuri @tkimura4