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feat(intersection): clear costmap on adjacent lanes #3553

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Apr 27, 2023
Merged

feat(intersection): clear costmap on adjacent lanes #3553

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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -323,6 +323,7 @@ class IntersectionModule : public SceneModuleInterface
bool isOcclusionCleared(
const nav_msgs::msg::OccupancyGrid & occ_grid,
const std::vector<lanelet::CompoundPolygon3d> & detection_areas,
lanelet::ConstLanelets adjacent_lanelets,
const lanelet::CompoundPolygon3d & first_detection_area,
const autoware_auto_planning_msgs::msg::PathWithLaneId & path_ip,
const std::pair<size_t, size_t> & lane_interval,
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40 changes: 37 additions & 3 deletions planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -250,8 +250,9 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
const bool is_occlusion_cleared =
(enable_occlusion_detection_ && first_detection_area && !occlusion_attention_lanelets.empty())
? isOcclusionCleared(
*planner_data_->occupancy_grid, occlusion_attention_area, first_detection_area.value(),
path_ip, lane_interval_ip, detection_divisions_.value(), occlusion_dist_thr)
*planner_data_->occupancy_grid, occlusion_attention_area, adjacent_lanelets,
first_detection_area.value(), path_ip, lane_interval_ip, detection_divisions_.value(),
occlusion_dist_thr)
: true;
const auto occlusion_peeking_line_idx_opt =
first_detection_area
Expand Down Expand Up @@ -946,7 +947,7 @@ bool IntersectionModule::checkFrontVehicleDeceleration(
bool IntersectionModule::isOcclusionCleared(
const nav_msgs::msg::OccupancyGrid & occ_grid,
const std::vector<lanelet::CompoundPolygon3d> & detection_areas,
const lanelet::CompoundPolygon3d & first_detection_area,
lanelet::ConstLanelets adjacent_lanelets, const lanelet::CompoundPolygon3d & first_detection_area,
const autoware_auto_planning_msgs::msg::PathWithLaneId & path_ip,
const std::pair<size_t, size_t> & lane_interval_ip,
const std::vector<util::DetectionLaneDivision> & lane_divisions,
Expand Down Expand Up @@ -1014,6 +1015,39 @@ bool IntersectionModule::isOcclusionCleared(
for (const auto & poly : detection_area_cv_polygons) {
cv::fillPoly(detection_mask, poly, cv::Scalar(255), cv::LINE_AA);
}
// (1.1)
// reset adjacent_lanelets area to 0 on detection_mask
std::vector<std::vector<cv::Point>> adjacent_lane_cv_polygons;
for (const auto & adjacent_lanelet : adjacent_lanelets) {
const auto area2d = adjacent_lanelet.polygon2d().basicPolygon();
Polygon2d area2d_poly;
for (const auto & p : area2d) {
area2d_poly.outer().emplace_back(p.x(), p.y());
}
area2d_poly.outer().push_back(area2d_poly.outer().front());
bg::correct(area2d_poly);
std::vector<Polygon2d> common_areas;
bg::intersection(area2d_poly, grid_poly, common_areas);
if (common_areas.empty()) {
continue;
}
for (size_t i = 0; i < common_areas.size(); ++i) {
common_areas[i].outer().push_back(common_areas[i].outer().front());
bg::correct(common_areas[i]);
}
for (const auto & common_area : common_areas) {
std::vector<cv::Point> adjacent_lane_cv_polygon;
for (const auto & p : common_area.outer()) {
const int idx_x = static_cast<int>((p.x() - origin.x) / reso);
const int idx_y = static_cast<int>((p.y() - origin.y) / reso);
adjacent_lane_cv_polygon.emplace_back(idx_x, height - 1 - idx_y);
}
adjacent_lane_cv_polygons.push_back(adjacent_lane_cv_polygon);
}
}
for (const auto & poly : adjacent_lane_cv_polygons) {
cv::fillPoly(detection_mask, poly, cv::Scalar(0), cv::LINE_AA);
}

// (2) prepare unknown mask
// In OpenCV the pixel at (X=x, Y=y) (with left-upper origin) is accesed by img[y, x]
Expand Down