fix(lane_change): unify stuck detection to avoid unnecessary computation #8383
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
added
the
component:planning
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4
force-pushed
the
separate-stuck-detection
branch
from
3369eda
to
4719395
Compare
zulfaqar-azmi-t4
requested review from
mkquda,
rej55,
kosuke55,
maxime-clem,
satoshi-ota,
shmpwk,
TomohitoAndo and
tkimura4
as code owners
maxime-clem
added
the
tag:run-build-and-test-differential
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8383 +/- ##
==========================================
- Coverage 23.91% 23.78% -0.14%
==========================================
Files 1380 1381 +1
Lines 101739 101686 -53
Branches 38716 38631 -85
==========================================
- Hits 24329 24183 -146
- Misses 74930 75043 +113
+ Partials 2480 2460 -20
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
zulfaqar-azmi-t4
merged commit 8fdebeb
into
autowarefoundation:main
28 of 30 checks passed
xtk8532704
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Aug 15, 2024
…ion (autowarefoundation#8383) unify stuck detection in getLaneChangePaths Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: xtk8532704 <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
With the current detection, there will necessary computation when ego vehicle is stuck.
In this case, lane change module first check if there is any safe path. If not safe path, then ego vehicle will attempt to generate lane change path with stuck rss.
In this PR, these steps are unified. Meaning if ego is stuck, in the same loop, ego first check if there is safe path with normal rss, and if no, then then rss param is used.
This helps to reduce computation time of lane change module.
Related links
#8214
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.