fix(lane_change): remove overlapping preceding lanes #9526
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Codecov ReportAttention: Patch coverage is
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## main #9526 +/- ##
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Coverage 29.49% 29.50%
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Files 1444 1446 +2
Lines 108530 108581 +51
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+ Hits 32012 32035 +23
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mkquda
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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
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| std::unordered_set<lanelet::Id> not_connected_ids; | ||
| for (const auto [current_lane, next_lane] : ranges::views::zip( | ||
| non_overlapping_lanes, non_overlapping_lanes | ranges::views::drop(1))) { | ||
| const auto next_lanes = route_handler_ptr->getNextLanelets(current_lane); | ||
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| const auto is_connected = ranges::any_of( | ||
| next_lanes, [next_id = next_lane.id()](const auto & lane) { return lane.id() == next_id; }); | ||
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| if (!is_connected) { | ||
| not_connected_ids.insert(current_lane.id()); | ||
| } | ||
| } | ||
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| // Step 3: Remove disconnected lanes | ||
| auto connected_lanes = | ||
| non_overlapping_lanes | ranges::views::remove_if([&](const lanelet::ConstLanelet & lane) { | ||
| return not_connected_ids.find(lane.id()) != not_connected_ids.end(); | ||
| }); |
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Can you explain whats the purpose of this?
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When we removed the overlapping lanes, we might ended up lanes that is not connected. For example
Original: L4, L3, L2, L1. Assume overlapping is L2.
Overlapping removed: L1, L3, L4
Since L1 and L3 is not directly connected, we should remove L1 from the list, which yield
Connected: L4, L3.
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
When the lanes are short, the preceding lane might overlap with the current lanes, as shown in the video below.
This could potentially affect the safety check results. To avoid this, we should remove the overlapping lane.
Before
Preceding lanes (Dark blue lanes) overlap current lanes.
cap-.2024-11-29-19-26-53.mp4
After
Preceding lanes no longer overlaps current lanes.
cap-.2024-11-29-19-24-40.mp4
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.