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@github-actions github-actions released this 10 Dec 05:03
· 433 commits to master since this release
6.3.0
e3ce852

Description

Abstract

allow lane-changes everywhere in VEHICLE_WITH_ROAD_SHOULDER rouitng graph

Background

Basically, the lanelet2 lane change permission/disallowance setting is intended for Autoware and was not designed with the behavior of entities running in the traffic_simulator in mind.

Also, when an entity is commanded to change lanes in a scenario, it is considered appropriate to change lanes, even if that command ignores the Road Traffic Act and lane change settings.

Details

  • make the linestrings between road and road_shoulder into solid(un-lane-changeable) from dashed(lane-changeable)
  • allow lane-changes everywhere in VEHICLE_WITH_ROAD_SHOULDER rouitng graph

details of getLeftLaneletIds / getRightLaneletIds changes

In this pull-request, I changed lanelet2 function mapping switched by include_oppsite_direction flag.

previous mappping

  • include_oppsite_direction: true(The de facto default)
    • lanelet::routing::RoutingGraph::adjacentRights/adjacentLefts
  • include_oppsite_direction: false
    • lanelet::routing::RoutingGraph::rights/lefts

incoming mappping

  • include_oppsite_direction: true
    • no mapping (throw an exception)
  • include_oppsite_direction: false(The de facto default)
    • lanelet::routing::RoutingGraph::rights/lefts

Important

lanelet::routing::RoutingGraph::adjacentRights/adjacentLefts do not have the ability to acquire adjacent lanes,
including the opposite lane.
The only difference between rights and adjacentRights is whether the adjacent lanelet they acquire is routable or not.
(Both do not have the ability to acquire the opposite lanes.)

image

routing changes possibility due to this change

In this pull-request allows lane-changes everywhere.
This change will result in some changes to routing, as exemplified by the tests below.
Routing will always prioritize smaller cost (in this case, shorter distance), so longitudinal distance measurements may be smaller than before.

Before this pull-request
The routing graph and adjacent lane search options only allow you to get this route.
image

After this pull-request
By expanding the range of the RoutingGraph, we can compare more candidates and select a route with a shorter distance (in this case, the route is shorter if it goes on the inside of the curve).
image

References

Regression Test: OK

Destructive Changes

Please see "routing changes possibility due to this change" in Details section.

Known Limitations

Related Issues

Assets 2
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