[paneendrakumar0]

Description

In autoware_motion_velocity_out_of_lane_module, out_of_lane_module.cpp initializes vehicle offsets from vehicle_info_utils:

pp.front_offset = vehicle_info.max_longitudinal_offset_m;
pp.rear_offset = vehicle_info.min_longitudinal_offset_m;
pp.left_offset = vehicle_info.max_lateral_offset_m;
pp.right_offset = vehicle_info.min_lateral_offset_m;

In ISO 8855 / Autoware vehicle coordinates, min_longitudinal_offset_m (e.g. -1.10 m) and min_lateral_offset_m (e.g. -0.948 m) are signed negative values relative to base_link.

In make_base_footprint, these signed values were directly assigned to vehicle_info.rear_overhang_m and vehicle_info.right_overhang_m:

vehicle_info.rear_overhang_m = p.rear_offset;
vehicle_info.front_overhang_m = p.front_offset;
vehicle_info.wheel_base_m = 0.0;
vehicle_info.left_overhang_m = p.left_offset;
vehicle_info.right_overhang_m = p.right_offset;
vehicle_info.wheel_tread_m = 0.0;

However, VehicleInfo::createFootprint assumes positive overhang distances and negates them internally:

• x_rear = -(rear_overhang_m + rear_lon_margin)
• y_right_front = -(wheel_tread_m * 0.5 + right_overhang_m + margin)

Because negative values were passed, a double negation occurred:

1. x_rear evaluated to -(-1.10) = +1.10 m (in front of the rear axle).
2. y_right evaluated to -(-0.948) = +0.948 m (the exact same coordinate as y_left at +0.948 m).

As a result, the generated polygon collapsed into a zero-width line segment with an area of 0.0 m^2:
(3.79, 0.948), (3.79, 0.948), (1.10, 0.948), (1.10, 0.948), (3.79, 0.948).
Consequently, polygon intersection and overlap detection with adjacent lanelets always evaluated to empty/disjoint in simulation and real vehicles, disabling collision avoidance checks in the module.

In addition:

• lat_margin was previously calculated as (right_offset + left_offset) / 2 and passed symmetrically, distorting asymmetric extra_left_offset and extra_right_offset.
• In lanelets_selection.cpp and filter_predicted_objects.cpp, right_offset and rear_offset were added directly to margins without accounting for their signed negative nature.

Changes:

1. make_base_footprint:
   • Pass positive overhang lengths using std::abs(p.rear_offset) and std::abs(p.right_offset).
   • Apply asymmetric extra_left_offset and extra_right_offset directly to left_overhang_m and right_overhang_m.
   • Call createFootprint(0.0, 0.0, 0.0, front_offset, rear_offset) ensuring exact dimensional inflation on each side.
2. lanelets_selection.cpp:
   • Use std::abs(params.right_offset) and std::abs(params.rear_offset) when computing max_ego_footprint_offset.
3. filter_predicted_objects.cpp:
   • Use std::abs(params.right_offset) when checking is_crossing_ego.
4. Unit Tests:
   • Added unit tests in test/test_footprint.cpp verifying non-zero footprint area, exact bounding box dimensions matching VehicleInfo, asymmetric extra offset handling, and lanelet overlap detection.

Related links

Parent Issue:

• Closes [out_of_lane] Ego footprint collapses to a zero-width segment, so no overlap is ever detected #13536

How was this PR tested?

Built package and ran unit tests with ROS 2 Jazzy:

colcon build --packages-select autoware_motion_velocity_out_of_lane_module
./build/autoware_motion_velocity_out_of_lane_module/test_autoware_motion_velocity_out_of_lane_module

Result: 5/5 tests passed (100% pass), including 4 new footprint and overlap tests:

• TestFootprint.BaseFootprintDimensionsAndArea: PASSED (Calculated area: 9.27144 m^2 vs expected 9.27144 m^2; min/max x: [-1.10, 3.79], min/max y: [-0.948, 0.948])
• TestFootprint.BaseFootprintWithExtraOffsets: PASSED (Properly expanded min/max bounds and area 12.49524 m^2)
• TestFootprint.BaseFootprintIgnoreOffset: PASSED (Correct base dimensions returned)
• TestFootprint.CurrentEgoFootprintAndLaneletOverlap: PASSED (Successfully detects collision/overlap with adjacent lanelet)

Verified git diff --check and git clang-format --diff clean.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

Restores ego footprint generation in autoware_motion_velocity_out_of_lane_module from a collapsed 0-width line segment back to the true 2D vehicle bounding polygon, enabling correct overlap and collision detection with surrounding lanelets.

[github-actions]

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[maxime-clem]

Thank you for your contribution.

I tested in Psim and confirmed with the OutOfLane debug markers that the feature was broken and is fixed by this PR.

[codecov]

Codecov Report

❌ Patch coverage is 57.14286% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 38.32%. Comparing base (a3e718d) to head (b8d40db).
⚠️ Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...city_out_of_lane_module/src/lanelets_selection.cpp	0.00%	2 Missing ⚠️
...ut_of_lane_module/src/filter_predicted_objects.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #13543      +/-   ##
==========================================
+ Coverage   38.31%   38.32%   +0.01%     
==========================================
  Files        2034     2034              
  Lines      141864   141863       -1     
==========================================
+ Hits        54349    54368      +19     
+ Misses      87515    87495      -20     

Flag	Coverage Δ		*Carryforward flag
daily	?
full-suite	38.31% <ø> (+<0.01%)	⬆️	Carriedforward from a3e718d

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