fix(behavior_velocity_planner): vehicle points lateral calculation

[hasanzfdn]

Signed-off-by: Hasanzfdn [email protected]

Description

closes #1734 In addition to the issue, the util.cppcode has also been changed

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[takayuki5168]

LGTM for obstacle avoidance planner

@taikitanaka3 Could you check for behavior velocity planner

[taikitanaka3]

Ok I will check this later.

[codecov[bot]]

Codecov Report

Base: 11.13% // Head: 11.13% // No change to project coverage :thumbsup:

Coverage data is based on head (2119d48) compared to base (2119d48). Patch has no changes to coverable lines.

:exclamation: Current head 2119d48 differs from pull request most recent head d35aa5a. Consider uploading reports for the commit d35aa5a to get more accurate results

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1831   +/-   ##
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  Coverage   11.13%   11.13%           
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  Files        1201     1201           
  Lines       86316    86316           
  Branches    20787    20787           
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  Hits         9609     9609           
  Misses      66579    66579           
  Partials    10128    10128           

Flag	Coverage Δ
total	11.10% <0.00%> (ø)

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[taikitanaka3]

@hasanzfdn lateral polygon including this PR is something wrong. please check with occlusion spot / run out detecion area polygon

[hasanzfdn]

@taikitanaka3

I tried again and again but I have not encountered such a problem. Screenshot like this.

[taikitanaka3]

@hasanzfdn Thank you. I will try again with latest version tomorrow.

[beyzanurkaya]

Also I tried with different maps but I didn't see anything like this.

@hasanzfdn lateral polygon including this PR is something wrong. please check with occlusion spot / run out detecion area polygon

Occlusion spot:

[xmfcx]

@taikitanaka3 have you tested it again?

[taikitanaka3]

@xmfcx Sorry I didn't test this again yet, @xmfcx can you help me testing this PR if you have time to?

[ismetatabay]

Thank you @hasanzfdn, can you rebase PR for review? There are some conflicts on obstacle_avoidance_planner.

[ismetatabay]

I tested with different maps and vehicles, I think occlusion_spot problem is solved.

Another map and vehicle:

[mitsudome-r]

@taikitanaka3 @TakaHoribe It looks like LeoDrive member has done a review for this PR. Would you like to run Planning team CI internally before merging?

[taikitanaka3]

LGTM for me @TomohitoAndo can you take a look at run out module?

Can you also run CI with x2 or awf-latest this PR to see the difference?

[TomohitoAndo]

@hasanzfdn It seems value of wheel_tread, right_overhang and left_overhang are not assigned in run out module. Could you modify the manager.cpp for run out module like you did in occlusion spot module? Vehicle parameters are assigned here.

You can check the behavior by changing launch_run_out to true here and detection_method to Points here. The expected behavior is like this video.

https://user-images.githubusercontent.com/11865769/199435866-6905cff4-ceab-4b10-b0cf-49ab7793a258.mp4

[mehmetdogru]

@hasanzfdn will you be able to work on this or shall we assign this issue to @ismetatabay?

[hasanzfdn]

@hasanzfdn will you be able to work on this or shall we assign this issue to @ismetatabay?

Ismet will continue to work on this issue. You can assign to him.

[ismetatabay]

I will update the lateral calculation of the vehicle in the run out module.

[ismetatabay]

@hasanzfdn Can you update the PR to the draft stage?

[ismetatabay]

@TomohitoAndo Hi, I updated the run out model as you said and it works as in the video you shared.

[TomohitoAndo]

@ismetatabay Thanks! I checked it works in my environment and CI. LGTM

[xmfcx]

@taikitanaka3 a code owner approval is also required, can you check it please?