feat(lane_change): implement terminal lane change feature #9592
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Signed-off-by: mohammad alqudah <[email protected]>
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Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
…ent-terminal-lane-change-feature
…e-feature Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: tomoya.kimura <[email protected]>
…e-feature Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
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…on threshold Signed-off-by: mohammad alqudah <[email protected]>
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…nge_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <[email protected]>
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Signed-off-by: mohammad alqudah <[email protected]>
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…undation#9592) * implement function to compute terminal lane change path Signed-off-by: mohammad alqudah <[email protected]> * push terminal path to candidate paths if no other valid candidate path is found Signed-off-by: mohammad alqudah <[email protected]> * use terminal path in LC interface planWaitingApproval function Signed-off-by: mohammad alqudah <[email protected]> * set lane changing longitudinal accel to zero for terminal lc path Signed-off-by: mohammad alqudah <[email protected]> * rename function Signed-off-by: mohammad alqudah <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * remove unused member variable prev_approved_path_ Signed-off-by: mohammad alqudah <[email protected]> * refactor stop point insertion for terminal lc path Signed-off-by: mohammad alqudah <[email protected]> * add flag to enable/disable terminal path feature Signed-off-by: mohammad alqudah <[email protected]> * update README Signed-off-by: mohammad alqudah <[email protected]> * add parameter to configure stop point placement Signed-off-by: mohammad alqudah <[email protected]> * compute terminal path only when near terminal start Signed-off-by: mohammad alqudah <[email protected]> * add option to disable feature near goal Signed-off-by: mohammad alqudah <[email protected]> * set default flag value to false Signed-off-by: mohammad alqudah <[email protected]> * add documentation for terminal lane change path Signed-off-by: mohammad alqudah <[email protected]> * ensure actual prepare duration is always above minimum prepare duration threshold Signed-off-by: mohammad alqudah <[email protected]> * explicitly return std::nullopt Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * fix assignment Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix merge errors Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: tomoya.kimura <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]>
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…undation#9592) * implement function to compute terminal lane change path Signed-off-by: mohammad alqudah <[email protected]> * push terminal path to candidate paths if no other valid candidate path is found Signed-off-by: mohammad alqudah <[email protected]> * use terminal path in LC interface planWaitingApproval function Signed-off-by: mohammad alqudah <[email protected]> * set lane changing longitudinal accel to zero for terminal lc path Signed-off-by: mohammad alqudah <[email protected]> * rename function Signed-off-by: mohammad alqudah <[email protected]> * chore: rename codeowners file Signed-off-by: tomoya.kimura <[email protected]> * remove unused member variable prev_approved_path_ Signed-off-by: mohammad alqudah <[email protected]> * refactor stop point insertion for terminal lc path Signed-off-by: mohammad alqudah <[email protected]> * add flag to enable/disable terminal path feature Signed-off-by: mohammad alqudah <[email protected]> * update README Signed-off-by: mohammad alqudah <[email protected]> * add parameter to configure stop point placement Signed-off-by: mohammad alqudah <[email protected]> * compute terminal path only when near terminal start Signed-off-by: mohammad alqudah <[email protected]> * add option to disable feature near goal Signed-off-by: mohammad alqudah <[email protected]> * set default flag value to false Signed-off-by: mohammad alqudah <[email protected]> * add documentation for terminal lane change path Signed-off-by: mohammad alqudah <[email protected]> * ensure actual prepare duration is always above minimum prepare duration threshold Signed-off-by: mohammad alqudah <[email protected]> * explicitly return std::nullopt Signed-off-by: mohammad alqudah <[email protected]> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * fix assignment Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix merge errors Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: tomoya.kimura <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]>
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Description
Currently when LC module fails to find a safe lane change path, ego will continue up to the end of current lanes (terminal point) and stop in the middle of the lane. And lane change cannot be performed except by manual override.
To increase the rate of successful LC maneuvers, even in difficult situations, and reduce the need of manual override, it is better to always have a fallback terminal lane change path connecting the end of current lanes to target lanes, in case no valid & safe candidate path is found, the fallback terminal path can be force approved to complete the LC maneuver.
Changes
compute_terminal_lane_change_pathinsert_stop_point_on_current_lanes&calc_dist_to_last_fit_widthenable_terminal_pathto enable/disable the featureThe videos below demonstrate the difference in the behavior:
no_terminal_lc_path.mp4
terminal_lc_path.mp4
Related links
How was this PR tested?
Notes for reviewers
None.
Interface changes
ROS Parameter Changes
Additions and removals
terminal_path.enablebooltrueterminal_path.disable_near_terminalbooltrueterminal_path.stop_at_boundarybooltrueEffects on system behavior
In case of failure to find a valid candidate path until terminal point, if terminal path is computed, it can be force approved to complete LC maneuver successfully.
If using terminal path feature and terminal path is computed, instead of placing stop point in the middle of current lane, stop point will be inserted at the last point along the path where Ego foot print is within current lane boundary. This would result in Ego stopping to the side of the lane, which can help incite other vehicles to give way for Ego.