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fix(behavior_path_planner): pull over dies after curve #1963

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Sep 27, 2022
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fix(behavior_path_planner): pull over dies after curve #1963

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19 changes: 12 additions & 7 deletions planning/behavior_path_planner/src/scene_module/pull_over/shift_pull_over.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,6 @@
#include <vector>

namespace behavior_path_planner

{
ShiftPullOver::ShiftPullOver(
rclcpp::Node & node, const PullOverParameters & parameters,
Expand Down Expand Up @@ -108,15 +107,21 @@ std::vector<PullOverPath> ShiftPullOver::generatePullOverPaths(
const double jerk_resolution =
std::abs(maximum_lateral_jerk - minimum_lateral_jerk) / pull_over_sampling_num;

const double distance_to_shoulder_lane_boundary =
util::getDistanceToShoulderBoundary(shoulder_lanes, current_pose);
const double offset_from_current_pose =
distance_to_shoulder_lane_boundary + common_parameters.vehicle_width / 2 + margin;
// calc lateral offset from road lane center line to shoulder target line.
lanelet::ConstLanelet goal_closest_road_lane;
lanelet::utils::query::getClosestLanelet(road_lanes, goal_pose, &goal_closest_road_lane);
const auto closest_center_pose =
lanelet::utils::getClosestCenterPose(goal_closest_road_lane, goal_pose.position);
const double distance_from_shoulder_left_bound =
util::getDistanceToShoulderBoundary(shoulder_lanes, closest_center_pose);
const double offset_from_road_line_center =
distance_from_shoulder_left_bound + common_parameters.vehicle_width / 2 + margin;

// shift end point in shoulder lane
const auto shift_end_point = std::invoke([&]() {
const auto arc_position_goal = lanelet::utils::getArcCoordinates(shoulder_lanes, goal_pose);
const double s_start = arc_position_goal.length - after_pull_over_straight_distance;
const double s_start =
std::max(arc_position_goal.length - after_pull_over_straight_distance, 0.0);
const double s_end = s_start + std::numeric_limits<double>::epsilon();
const auto path = route_handler->getCenterLinePath(shoulder_lanes, s_start, s_end, true);
return path.points.front();
Expand All @@ -130,7 +135,7 @@ std::vector<PullOverPath> ShiftPullOver::generatePullOverPaths(
PullOverPath candidate_path;

const double pull_over_distance = path_shifter.calcLongitudinalDistFromJerk(
abs(offset_from_current_pose), lateral_jerk, pull_over_velocity);
std::abs(offset_from_road_line_center), lateral_jerk, pull_over_velocity);

// calculate straight distance before pull over
const double straight_distance = std::invoke([&]() {
Expand Down