The lane_following can not operate normally in some conditions

[shulanbushangshu]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

When I use the map to do simulation about lane_following, there are three cases.

case1:

case2:

case3:

In the case1 and case3,the mode can work normally.But in the case2,the mode is unable to operate normally.

Expected behavior

In the conditions of case2,the lane_following is unable to operate normally.

Actual behavior

In the conditions of case2,the lane_following is unable to operate normally.

Steps to reproduce

1.Use the map of demo and start autoware planning simulator;

2. Set initial position in the lane of 34976
3. Set target in the lane of 35016

Versions

1.OS: Ubuntun 20.04 2.ROS2: Galactic 3.Autoware: Autoware.universe:main

Possible causes

In the path based on sampling distance by parameters,there is the lane which connects to the start lane.

Additional context

No response

[zulfaqar-azmi-t4]

@shulanbushangshu This PR https://github.com/autowarefoundation/autoware.universe/pull/2648 might interest you.

[shulanbushangshu]

@zulfaqar-azmi-t4 @purewater0901 . I use the newest code to do the simulation.The result is shown as below:

In the start position:

When the car travels a certain distance:

Could you help me to confirm it?

[mitsudome-r]

@shulanbushangshu Could you explain what you mean by "not operating normally"? Is it not engaging?

[shulanbushangshu]

@mitsudome-r .I test the new code after the pr https://github.com/autowarefoundation/autoware.universe/pull/2648 and the result is that the path can not get the target lane as below shown:

[purewater0901]

@shulanbushangshu Thank you for your reporting. I also encountered the same issue, but this problem is not related to this PR. I think the root cause of the problem comes from either Lanelet library or the route handler. The route handler(or Lanelet library) gives incorrect Lanelet sequences.

[purewater0901]

It seems this funciton chooses wrong lanelet in this case

[shulanbushangshu]

@purewater0901 @mitsudome-r Yes,this problem is not related to https://github.com/autowarefoundation/autoware.universe/pull/2648. The function of getNextLaneletWithinRoute() has no judgement when chose the next lane.

[purewater0901]

@shulanbushangshu Yes, when you make a "half-looped" route, it won't work correctly. In order to fix this problem, we have to re-design the route handler.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.