fix(lane_change): fix prepare length too short at low speed (RT1-8909) #9735
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Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
zulfaqar-azmi-t4
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #9735 +/- ##
==========================================
- Coverage 29.75% 29.74% -0.01%
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Files 1444 1446 +2
Lines 108691 108720 +29
Branches 42664 42665 +1
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+ Hits 32336 32338 +2
- Misses 73173 73201 +28
+ Partials 3182 3181 -1
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Dec 25, 2024
autowarefoundation#9735) fix prepare length too short at low speed (RT1-8909) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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Dec 25, 2024
autowarefoundation#9735) fix prepare length too short at low speed (RT1-8909) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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Description
When the prepare metrics are computed, if the ego velocity is lower than the lane-changing velocity, the returned prepare duration becomes abnormally short, even when the ego vehicle is far from the terminal stop.
In the following video, the prepare distance is less than 1m.
cap-.2024-12-23-18-02-45.mp4
In above video, current_velocity is somewhere less than min_lc_velocity, and the following is computed
the small discrepancy resulted in very short duration.
After PR
The solution is to compare the computation with parameterized
min_prepare_durationcap-.2024-12-23-18-16-30.mp4
Related links
TIER IV Internal link
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
Longer prepare duration when ego's velocity is low and the distance from ego to terminal stop is far.