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feat(lane_change): using frenet planner to generate lane change path when ego near terminal #9767

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merged 22 commits into from
Jan 14, 2025
Merged

feat(lane_change): using frenet planner to generate lane change path when ego near terminal #9767

merged 22 commits into from
Jan 14, 2025

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zulfaqar-azmi-t4
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@zulfaqar-azmi-t4 zulfaqar-azmi-t4 commented Dec 24, 2024 •
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Description

This PR adds frenet planner to generate candidate path when ego is near terminal.

Related launcher's PR. autowarefoundation/autoware_launch#1290

Related links

Parent Issue:

  • Link

How was this PR tested?

  1. PSIM
  2. Evaluator TIER IV Internal link

Notes for reviewers

None.

ROS Parameter Changes

Additions and removals

Change type Parameter Name Type Default Value Description
Added trajectory.th_prepare_curvature double 0.03 If the maximum curvature of the prepare segment exceeds the threshold, the prepare segment is invalid.
Added frenet.enable bool 0.03 Enable frenet planner if ego is near terminal start.
Added frenet.th_yaw_diff bool 10.0 If the yaw diff between of the prepare segment's end and lane changing segment's start exceed the threshold , the lane changing segment is invalid.
Added frenet.th_curvature_smoothing bool 0.1 Filters and appends target path points with curvature below the threshold to candidate path.

Effects on system behavior

None.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Dec 24, 2024
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github-actions bot commented Dec 24, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-5068-lane-change-frenet branch 2 times, most recently from 4cae773 to 11e2774 Compare December 25, 2024 10:45
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 changed the title frenet planner feat(lane_change): using frenet planner to generate lane change path when ego near terminal Dec 26, 2024
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 mentioned this pull request Dec 26, 2024
Merged
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 marked this pull request as ready for review December 26, 2024 04:28
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-5068-lane-change-frenet branch 3 times, most recently from 66b4fe2 to 881afe1 Compare December 27, 2024 02:02
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-5068-lane-change-frenet branch from 6453e15 to 3253f79 Compare January 5, 2025 23:24
@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jan 6, 2025
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Jan 6, 2025
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github-actions bot commented Jan 6, 2025

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9767/
Modified URLs:

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 6, 2025
mkquda
mkquda reviewed Jan 9, 2025
View reviewed changes
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp
const LineString2d & lane_boundary, const Direction direction)
{
const auto distance = (0.5 * common_data_ptr->bpp_param_ptr->vehicle_width + 0.1);
const auto offset = sign<double>(direction) * distance; // invert direction
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Just double checking, when doing left lane change then we want to offset to the right, and vice versa. Is that correct? Does this logic do that?

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Yes. Please refer to the following

Color legend

  1. Red: Lane changing trajectory
  2. Green: Lane boundary and offset's trajectory
  3. Blue: Offset trajectory in the inversed direction (I'm placing this just and indication).

Lane change left

image_0

Lane change trajectory is offset to the right (green) crosses current lane boundary (green)

Lane change right

image_0 copy

Lane change trajectory is offset to the left (green) crosses current lane boundary (green)

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 added run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) tag:pre-commit-autoupdate and removed run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) tag:pre-commit-autoupdate labels Jan 14, 2025
@zulfaqar-azmi-t4
frenet planner
87f7dd2 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
minor refactoring
58309b5 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
adding parameter
e5314c8 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
Add diff th param
cd18c44 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
limit curvature for prepare segment
573e887 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
minor refactoring
21611d0 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
print average curvature
bfe374e 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
refactor
ab7807b 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
filter the path directly
79b290e 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
fix some conflicts
3f5526f 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
include curvature smoothing
89e1b95 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
document
e496a93 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
fix image folder
fae82b5 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
image size
be8085f 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
doxygen
a7b6d75 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
add debug for state
ca3ae95 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
use sign function instead
ce2db02 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
rename argument
955c17e 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
readme
998b301 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
fix failed test due to empty value
917e990 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4
add additional note
080250b 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 force-pushed the RT1-5068-lane-change-frenet branch from 2903577 to 080250b Compare January 14, 2025 04:48
@zulfaqar-azmi-t4
fix conflict
04d9227 
Signed-off-by: Zulfaqar Azmi <[email protected]>
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 enabled auto-merge (squash) January 14, 2025 05:05
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 merged commit 0715615 into autowarefoundation:main Jan 14, 2025
32 of 34 checks passed
@zulfaqar-azmi-t4 zulfaqar-azmi-t4 deleted the RT1-5068-lane-change-frenet branch January 14, 2025 05:57
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@mkquda mkquda mkquda approved these changes

@maxime-clem maxime-clem maxime-clem approved these changes

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