feat(planning_validator): check for sudden shift in planning trajectory #10339
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not sync github-release Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
…ality-detection-method
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
not sync github-release Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
…on-method Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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Description
There have been reported instances where the planning trajectory experiences a sudden lateral/longitudinal shift, resulting in a sudden steering/deceleration.
This PR adds a feature to planning validator to check for such occurrence by comparing the new trajectory to the previous one and measuring lateral/longitudinal shifts.
Additionally this PR modifies planning_validator paramters to allow for more flexible configuration of the handling method for each check.
To reduce unnecessary jerky motion, this PR also adds the option to perform a soft stop instead of emergency stop for planning validator checks.
Related links
How was this PR tested?
Test using PSIM:
RTC manager panel was used to generate a sudden lateral shift by switching to manual mode in the middle of lane change maneuver. The behavior is shown below:
cap-.2025-03-26-09-02-48.mp4
Rosbag Test using Perception Reproducer:
cap-.2025-03-28-10-10-38.mp4
Degradation Test:
Notes for reviewers
None.
Interface changes
Complete restructuring of planning_validator parameters.
Effects on system behavior
Planning validator can detect sudden shifts in trajectory and react to avoid sudden steering/acceleration