Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(behavior_path_planner_common): add safety target object located … #1264

Merged
merged 1 commit into from
Apr 19, 2024
Merged

feat(behavior_path_planner_common): add safety target object located … #1264

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 17 additions & 3 deletions planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -330,8 +330,9 @@ TargetObjectsOnLane createTargetObjectsOnLane(

lanelet::ConstLanelets all_left_lanelets;
lanelet::ConstLanelets all_right_lanelets;
// TODO(sugahara): consider right side parking and define right shoulder lanelets
lanelet::ConstLanelets all_left_shoulder_lanelets;

// Define lambda functions to update left and right lanelets
const auto update_left_lanelets = [&](const lanelet::ConstLanelet & target_lane) {
const auto left_lanelets = route_handler->getAllLeftSharedLinestringLanelets(
target_lane, include_opposite, invert_opposite);
Expand All @@ -345,13 +346,23 @@ TargetObjectsOnLane createTargetObjectsOnLane(
all_right_lanelets.end(), right_lanelets.begin(), right_lanelets.end());
};

// Update left and right lanelets for each current lane
const auto update_left_shoulder_lanelet = [&](const lanelet::ConstLanelet & target_lane) {
lanelet::ConstLanelet neighbor_shoulder_lane{};
const bool shoulder_lane_is_found =
route_handler->getLeftShoulderLanelet(target_lane, &neighbor_shoulder_lane);
if (shoulder_lane_is_found) {
all_left_shoulder_lanelets.insert(all_left_shoulder_lanelets.end(), neighbor_shoulder_lane);
}
};

for (const auto & current_lane : current_lanes) {
update_left_lanelets(current_lane);
update_right_lanelets(current_lane);
update_left_shoulder_lanelet(current_lane);
}

TargetObjectsOnLane target_objects_on_lane{};

const auto append_objects_on_lane = [&](auto & lane_objects, const auto & check_lanes) {
std::for_each(
filtered_objects.objects.begin(), filtered_objects.objects.end(), [&](const auto & object) {
Expand All @@ -362,7 +373,7 @@ TargetObjectsOnLane createTargetObjectsOnLane(
});
};

// TODO(Sugahara): Consider shoulder and other lane objects
// TODO(Sugahara): Consider other lane objects
if (object_lane_configuration.check_current_lane && !current_lanes.empty()) {
append_objects_on_lane(target_objects_on_lane.on_current_lane, current_lanes);
}
Expand All @@ -372,6 +383,9 @@ TargetObjectsOnLane createTargetObjectsOnLane(
if (object_lane_configuration.check_right_lane && !all_right_lanelets.empty()) {
append_objects_on_lane(target_objects_on_lane.on_right_lane, all_right_lanelets);
}
if (object_lane_configuration.check_shoulder_lane && !all_left_shoulder_lanelets.empty()) {
append_objects_on_lane(target_objects_on_lane.on_shoulder_lane, all_left_shoulder_lanelets);
}

return target_objects_on_lane;
}
Expand Down
22 changes: 15 additions & 7 deletions planning/behavior_path_start_planner_module/src/start_planner_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
#include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
#include "behavior_path_planner_common/utils/parking_departure/utils.hpp"
#include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
#include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
#include "behavior_path_planner_common/utils/path_utils.hpp"
#include "behavior_path_start_planner_module/util.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
Expand All @@ -37,6 +38,8 @@
#include <vector>

using behavior_path_planner::utils::parking_departure::initializeCollisionCheckDebugMap;
using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject;
using motion_utils::calcLateralOffset;
using motion_utils::calcLongitudinalOffsetPose;
using tier4_autoware_utils::calcOffsetPose;

Expand Down Expand Up @@ -1156,14 +1159,19 @@ bool StartPlannerModule::isSafePath() const
const double hysteresis_factor =
status_.is_safe_dynamic_objects ? 1.0 : safety_check_params_->hysteresis_factor_expand_rate;

utils::parking_departure::updateSafetyCheckTargetObjectsData(
start_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path);

std::vector<ExtendedPredictedObject> merged_target_object;
merged_target_object.reserve(
target_objects_on_lane.on_current_lane.size() + target_objects_on_lane.on_shoulder_lane.size());
merged_target_object.insert(
merged_target_object.end(), target_objects_on_lane.on_current_lane.begin(),
target_objects_on_lane.on_current_lane.end());
merged_target_object.insert(
merged_target_object.end(), target_objects_on_lane.on_shoulder_lane.begin(),
target_objects_on_lane.on_shoulder_lane.end());
return behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS(
pull_out_path, ego_predicted_path, target_objects_on_lane.on_current_lane,
start_planner_data_.collision_check, planner_data_->parameters,
safety_check_params_->rss_params, objects_filtering_params_->use_all_predicted_path,
hysteresis_factor);
pull_out_path, ego_predicted_path, merged_target_object, start_planner_data_.collision_check,
planner_data_->parameters, safety_check_params_->rss_params,
objects_filtering_params_->use_all_predicted_path, hysteresis_factor);
}

bool StartPlannerModule::isGoalBehindOfEgoInSameRouteSegment() const
Expand Down
Loading