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fix(start_planner): keep max back distace whithin lanes #4962

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merged 4 commits into from
Sep 12, 2023
Merged

fix(start_planner): keep max back distace whithin lanes #4962

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e6b5afd
fix(start_planner): keep max back distace whithin lanes
kosuke55 Sep 12, 2023
da4eae2
Update planning/behavior_path_planner/src/scene_module/start_planner/…
kosuke55 Sep 12, 2023
2776672
Update planning/behavior_path_planner/src/scene_module/start_planner/…
kosuke55 Sep 12, 2023
b050967
style(pre-commit): autofix
pre-commit-ci[bot] Sep 12, 2023
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9 changes: 8 additions & 1 deletion planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -690,9 +690,16 @@ std::vector<Pose> StartPlannerModule::searchPullOutStartPoses(
const auto pull_out_lane_stop_objects = utils::path_safety_checker::filterObjectsByVelocity(
pull_out_lane_objects, parameters_->th_moving_object_velocity);

// Set the maximum backward distance less than the distance from the vehicle's base_link to the
// lane's rearmost point to prevent lane departure.
const double s_current =
lanelet::utils::getArcCoordinates(status_.pull_out_lanes, current_pose).length;
const double max_back_distance = std::clamp(
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s_current - planner_data_->parameters.base_link2rear, 0.0, parameters_->max_back_distance);

// check collision between footprint and object at the backed pose
const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_);
for (double back_distance = 0.0; back_distance <= parameters_->max_back_distance;
for (double back_distance = 0.0; back_distance <= max_back_distance;
back_distance += parameters_->backward_search_resolution) {
const auto backed_pose = calcLongitudinalOffsetPose(
start_pose_candidates.points, current_pose.position, -back_distance);
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