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feat(lane_change): use planning factor #1727

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Dec 23, 2024
Merged

feat(lane_change): use planning factor #1727

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b0ab404
feat(lane_change): use planning factor
satoshi-ota Dec 17, 2024
4e3f4d6
feat(external_request_lane_change): use planning factor
satoshi-ota Dec 17, 2024
8807f43
feat(AbLC): use planning factor
satoshi-ota Dec 17, 2024
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4 changes: 3 additions & 1 deletion ...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,13 +32,15 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
objects_of_interest_marker_interface_ptr_map)
objects_of_interest_marker_interface_ptr_map,
const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface)
: LaneChangeInterface{
name,
node,
parameters,
rtc_interface_ptr_map,
objects_of_interest_marker_interface_ptr_map,
planning_factor_interface,
std::make_unique<AvoidanceByLaneChange>(parameters, avoidance_by_lane_change_parameters)}
{
}
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3 changes: 2 additions & 1 deletion ...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,8 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
objects_of_interest_marker_interface_ptr_map);
objects_of_interest_marker_interface_ptr_map,
const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface);

bool isExecutionRequested() const override;

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2 changes: 1 addition & 1 deletion ...avior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
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Expand Up @@ -190,7 +190,7 @@ SMIPtr AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance()
{
return std::make_unique<AvoidanceByLaneChangeInterface>(
name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);
}

} // namespace autoware::behavior_path_planner
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4 changes: 2 additions & 2 deletions ...r_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp
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Expand Up @@ -28,7 +28,7 @@ ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance()
{
return std::make_unique<LaneChangeInterface>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_,
std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
}

Expand All @@ -37,7 +37,7 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance()
{
return std::make_unique<LaneChangeInterface>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_,
std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
}

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1 change: 1 addition & 0 deletions ...r_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,7 @@ class LaneChangeInterface : public SceneModuleInterface
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
objects_of_interest_marker_interface_ptr_map,
const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface,
std::unique_ptr<LaneChangeBase> && module_type);

LaneChangeInterface(const LaneChangeInterface &) = delete;
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33 changes: 32 additions & 1 deletion planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,9 @@ LaneChangeInterface::LaneChangeInterface(
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
objects_of_interest_marker_interface_ptr_map,
const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface,
std::unique_ptr<LaneChangeBase> && module_type)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface}, // NOLINT
parameters_{std::move(parameters)},
module_type_{std::move(module_type)},
prev_approved_path_{std::make_unique<PathWithLaneId>()}
Expand Down Expand Up @@ -150,6 +151,8 @@ BehaviorModuleOutput LaneChangeInterface::plan()
}
}

set_longitudinal_planning_factor(output.path);

setVelocityFactor(output.path);

return output;
Expand Down Expand Up @@ -188,6 +191,8 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
isExecutionReady(), State::WAITING_FOR_EXECUTION);
is_abort_path_approved_ = false;

set_longitudinal_planning_factor(out.path);

setVelocityFactor(out.path);

return out;
Expand Down Expand Up @@ -436,6 +441,20 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o
steering_factor_interface_.set(
{status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end},
{start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, "");

const auto planning_factor_direction = std::invoke([&]() {
if (module_type_->getDirection() == Direction::LEFT) {
return PlanningFactor::SHIFT_LEFT;
}
if (module_type_->getDirection() == Direction::RIGHT) {
return PlanningFactor::SHIFT_RIGHT;
}
return PlanningFactor::UNKNOWN;
});

planning_factor_interface_->add(
start_distance, finish_distance, status.lane_change_path.info.shift_line.start,
status.lane_change_path.info.shift_line.end, planning_factor_direction, SafetyFactorArray{});
}

void LaneChangeInterface::updateSteeringFactorPtr(
Expand All @@ -452,5 +471,17 @@ void LaneChangeInterface::updateSteeringFactorPtr(
{selected_path.info.shift_line.start, selected_path.info.shift_line.end},
{output.start_distance_to_path_change, output.finish_distance_to_path_change},
steering_factor_direction, SteeringFactor::APPROACHING, "");

const uint16_t planning_factor_direction = std::invoke([&output]() {
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Suggested change
const uint16_t planning_factor_direction = std::invoke([&output]() {
const auto planning_factor_direction = std::invoke([&output]() {

Just for code consistency purpose.

if (output.lateral_shift > 0.0) {
return PlanningFactor::SHIFT_LEFT;
}
return PlanningFactor::SHIFT_RIGHT;
});

planning_factor_interface_->add(
output.start_distance_to_path_change, output.finish_distance_to_path_change,
selected_path.info.shift_line.start, selected_path.info.shift_line.end,
planning_factor_direction, SafetyFactorArray{});
}
} // namespace autoware::behavior_path_planner
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -284,7 +284,7 @@ std::unique_ptr<SceneModuleInterface> LaneChangeModuleManager::createNewSceneMod
{
return std::make_unique<LaneChangeInterface>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_,
std::make_unique<NormalLaneChange>(parameters_, LaneChangeModuleType::NORMAL, direction_));
}

Expand Down
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