feat(goal_planner): check pull over lane crossing validity when triggering candidate generation thread #10784
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #10784 +/- ##
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+ Coverage 15.80% 16.44% +0.63%
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Files 1365 1373 +8
Lines 100678 101446 +768
Branches 32624 32938 +314
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+ Hits 15914 16683 +769
- Misses 72545 73070 +525
+ Partials 12219 11693 -526
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kosuke55
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| /** | ||
| * @brief find the lanelet that has changed "laterally" from previous lanelet on the routing graph | ||
| * @return the lanelet that changed "laterally" if the path is lane changing, otherwise nullopt | ||
| */ | ||
| std::optional<lanelet::ConstLanelet> find_lane_change_completed_lanelet( | ||
| const PathWithLaneId & path, const lanelet::LaneletMapConstPtr lanelet_map, |
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question:
A 1 | 3 | 6 | 7
B 2 | 4 | 5 | 8
For example changing lanes from 1→8
1 → 3, 4 → 5,6 → 8
this function returns 4 as lane_change_completed_lanelet ? I imagined 8 from the function name.
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| return planner_data->route_handler->getLaneletSequence( | ||
| *lane_change_complete_lane, backward_length, forward_length); |
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this can't get lanes after goal?
Signed-off-by: Mamoru Sobue <[email protected]>
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Description
If lane_change is running when goal_planner's thread is generating path candidates, lane_change can suddenly swerve the path. If ego is still driving on the preferred_lanelets before swerving, and goal_planner still happened to be IDLE, syncWithThreads() is not triggered, thus the backgroud thread keeps using old reference path, which is aligned on the old preferred lanelets. This is problematic when pull over planners process "previous_module_path" w.r.t reference path.
To deal with this issue:
lane_change_status_changed_to goal_planner to signal background threadget_reference_lanelets_for_pulloverinstead ofgetPullOverLanesRelated links
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.