search

autowarefoundation / autoware_ai

Apache License 2.0
21 stars 7 forks source link

Using lane change in global path with way_planner #196

Closed hadiTab closed 4 years ago

hadiTab commented 6 years ago

I have enabled lane change in OpenPlanner using as suggested by @hatem-darweesh here. However, I still cannot plan a global path using way_planner that will include a lane change even when I use the vector maps for the quickstart demo.

This is the message I get when trying to set a route:

PlannerH -> Plan (A) Failed, Trying Plan (B).
Can't Generate Global Path for Start (X:-14864.6430664, Y:-84713.5060196, Z:39, A:-2.8795759087
Lon:0, Lat:0, Alt:0, Dir:0
) and Goal (X:-14917.6296844, Y:-84725.7631149, Z:39, A:-2.85309831858
Lon:0, Lat:0, Alt:0, Dir:0
)

This is how I am setting the route: 1) set pose: image

2) set nav goal: image

If I try something similar over the turn at the start of the map I get some weird forking path: image

hatem-darweesh commented 6 years ago

I will check and get back to you.

hadiTab commented 6 years ago

@hatem-darweesh were you able to check this out? Thanks.

hadiTab commented 6 years ago

@hatem-darweesh can you check and see if you can get what I tried above to work on your end? Thanks.

hatem-darweesh commented 6 years ago

Hi hadiTab,

I tested the lane change, it works.

check this video https://youtu.be/o6NndnQLJHA

Regards,

hadiTab commented 6 years ago

@hatem-darweesh thanks for looking into it. It works for me if I choose the same path you did. However, I still can't get it to work with the vehicle starting position being after that turn in the road (the first scenario I show in the pictures above). Can you look into that? Thanks.

AftermathK commented 6 years ago

@hatem-darweesh Thank you for sharing the video. I have tried this as well; it works just as shown in the video, but it doesn't work with my point cloud and the paths generated using VectorMapper. Do you happen to have more information about why this could be?

hatem-darweesh commented 6 years ago

Dear @hadiTab , I can see the problem now, this could be either from "FindAdjacentLanes" function or "PlanUsingDP" that may take some time. hopefully not much.

Regards,

hadiTab commented 6 years ago

@hatem-darweesh I noticed something that may be related to this. I've been printing the laneId for the waypoints saved in the final path that is generated in PlanUsingDP function. I noticed that all of the waypoints have the same laneId. This seems wrong to me because the laneId's in the vector map seem to correspond to short segments of the lane only (about 1 meter or so). Similarly the lane to the right and left has one lane ID for all of those waypoints.

Also, when I print the number of points in the points attribute of the lane object, I get a very large number, but in the vector map each lane id seems to be associated with only two points (per dtlane.csv and lane.csv). This make it seem like all of the points in a road segment are getting assigned to only one lane ID. Is this intentional?

hatem-darweesh commented 6 years ago

@hadiTab This is not the problem, there are difference in the way of vector map and local OpenPlanner map is represented. most probably the problem is in PlanningUsingDP, but still need more investigation

hgrw commented 5 years ago

@hadiTab @hatem-darweesh it looks like this problem is not resolved as of 2b8fb78 (Feb 3, 2019). I am getting the same issue. Global planner only functional on that small segment of the Moriyama demo.

Is there an update on the status of this?