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fix(behavior_path_planner): pull_over checks lane departure only for parking part #2673

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Jan 17, 2023
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fix(behavior_path_planner): pull_over checks lane departure only for parking part #2673

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22 changes: 11 additions & 11 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 @@ -167,17 +167,6 @@ boost::optional<PullOverPath> ShiftPullOver::generatePullOverPath(
p.point.pose.position.z = goal_pose.position.z;
}

// check lane departure with road and shoulder lanes
const auto drivable_lanes =
util::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes);
const auto expanded_lanes = util::expandLanelets(
drivable_lanes, parameters_.drivable_area_left_bound_offset,
parameters_.drivable_area_right_bound_offset);
if (lane_departure_checker_.checkPathWillLeaveLane(
util::transformToLanelets(expanded_lanes), shifted_path.path)) {
return {};
}

// set lane_id and velocity to shifted_path
for (size_t i = path_shifter.getShiftLines().front().start_idx;
i < shifted_path.path.points.size() - 1; ++i) {
Expand Down Expand Up @@ -212,6 +201,17 @@ boost::optional<PullOverPath> ShiftPullOver::generatePullOverPath(
pull_over_path.debug_poses.push_back(shift_end_pose_road_lane);
pull_over_path.debug_poses.push_back(actual_shift_end_pose);

// check if the parking path will leave lanes
const auto drivable_lanes =
util::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes);
const auto expanded_lanes = util::expandLanelets(
drivable_lanes, parameters_.drivable_area_left_bound_offset,
parameters_.drivable_area_right_bound_offset);
if (lane_departure_checker_.checkPathWillLeaveLane(
util::transformToLanelets(expanded_lanes), pull_over_path.getParkingPath())) {
return {};
}

return pull_over_path;
}

Expand Down