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perf(out_of_lane): redesign to improve accuracy and performance #8384

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perf(out_of_lane): redesign to improve accuracy and performance #8384

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maxime-clem
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@github-actions github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Aug 6, 2024
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@maxime-clem maxime-clem force-pushed the perf/out_of_lane-new_logic branch 5 times, most recently from de0f480 to 090ee84 Compare August 8, 2024 08:48
@maxime-clem maxime-clem mentioned this pull request Aug 8, 2024
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@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Aug 8, 2024
@maxime-clem
Calculate collision time ranges between ego and dynamic objects with RRT
159d676 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
split ttc_utils into hpp/cpp, add function to calculate TimeCollisions
d537f91 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
subscribe to the route in the motion_velocity_planner
04b09fa 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
out_of_lane: use route handler to get the trajectory lanelets (bad ?)
5b07d29 
logic needs to be changed:
- overlaps in other lane -- changed to --> ego footprint minus ego lanes

Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
[TMP] run motion_velocity_planner in konsole+gdb
81b3d7a 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
[WIP] switch to new logic
38f446f 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
[WIP] finished initial implementation (but not yet working)
4893902 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
Fix logic and update debug markers (kind of working)
176af98 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
refactoring
9423a10 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
make the collision checking more efficient (no collision checker)
e0cfe5e 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
use rtree for the stop lines
bf6ec2b 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
use a rtree to calculate collisions with out of lane areas
97a53d2 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
(WIP) removing some unused parameters and implementing some unused ones
500df64 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
add fallbacks for calculating slowdown and more parameters cleanup
335d8f2 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
Revert "[TMP] run motion_velocity_planner in konsole+gdb"
a93fd55 
This reverts commit a7fc090.
@maxime-clem
fix min decel distance calculation
2ccb6e2 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
[TMP] fix performance of the velocity smoother
a7bfaba 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
improve slowdown point calculation
b41c580 
Signed-off-by: Maxime CLEMENT <[email protected]>
@maxime-clem
remove unused params
d109c63 
Signed-off-by: Maxime CLEMENT <[email protected]>
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