fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage #9141
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danielsanchezaran
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kyoichi-sugahara,
soblin,
TakaHoribe and
tkimura4
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9141 +/- ##
==========================================
- Coverage 28.46% 28.46% -0.01%
==========================================
Files 1306 1307 +1
Lines 101071 101101 +30
Branches 39226 39230 +4
==========================================
+ Hits 28769 28774 +5
- Misses 69477 69501 +24
- Partials 2825 2826 +1
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
| @@ -467,7 +467,9 @@ bool AEB::checkCollision(MarkerArray & debug_markers) | |||
| use_pointcloud_data_ && points_belonging_to_cluster_hulls && | |||
| !points_belonging_to_cluster_hulls->empty()) { | |||
| const auto current_time = obstacle_ros_pointcloud_ptr_->header.stamp; | |||
| getClosestObjectsOnPath(path, current_time, points_belonging_to_cluster_hulls, objects); | |||
| const bool ego_moves_forward = current_v > 0.0; | |||
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@danielsanchezaran
How about using isDrivingForward util function to judge driving forward or not?
If trajectory is not subscribed, then check velocity directly is ok. The concern is velocity estimation's chattering.
kyoichi-sugahara
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Oct 23, 2024
Signed-off-by: Daniel Sanchez <[email protected]>
Signed-off-by: Daniel Sanchez <[email protected]>
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Thank you very much, I added your suggested change and the changes are much simpler and clean! |
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… back distance usage (autowarefoundation#9141) * fix no backward imu path and wrong back distance usage Signed-off-by: Daniel Sanchez <[email protected]> * use the motion utils isDrivingForward function Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
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* refactor(autoware_autonomous_emergency_braking): rename info_marker_publisher to virtual_wall_publisher (autowarefoundation#9078) Signed-off-by: kyoichi-sugahara <[email protected]> * fix(autonomous_emergency_braking): fix no backward imu path and wrong back distance usage (autowarefoundation#9141) * fix no backward imu path and wrong back distance usage Signed-off-by: Daniel Sanchez <[email protected]> * use the motion utils isDrivingForward function Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]> Signed-off-by: Daniel Sanchez <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]>
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Description
This PR introduces a fix for backwards path generation and collision judgement. It fixes a bug that causes the path length to be negative which makes the AEB NOT generate an IMU path when ego moves in reverse (because ego speed is negative and the length should be always positive). It also makes it so we have to check the ego speed to calculate whatoffset should be used to calculate collisions when moving backwards. These changes only affect backward driving behavior.
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How was this PR tested?
PSim
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.