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feat(behavior_velocity_blind_spot): use TTC for object in detection_area #7146

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merged 3 commits into from
May 29, 2024
Merged

feat(behavior_velocity_blind_spot): use TTC for object in detection_area #7146

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2d76925
merge detection lanelets
soblin May 23, 2024
eeae104
obtain time to stopline diff
soblin May 28, 2024
e20f137
ttc param
soblin May 28, 2024
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8 changes: 5 additions & 3 deletions planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,12 @@
blind_spot:
use_pass_judge_line: true
stop_line_margin: 1.0 # [m]
backward_length: 50.0 # [m]
backward_detection_length: 100.0 # [m]
ignore_width_from_center_line: 0.7 # [m]
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
opposite_adjacent_extend_width: 1.5 # [m]
max_future_movement_time: 10.0 # [second]
ttc_min: -5.0 # [s]
ttc_max: 5.0 # [s]
ttc_ego_minimal_velocity: 5.0 # [m/s]
enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
15 changes: 6 additions & 9 deletions planning/behavior_velocity_blind_spot_module/src/debug.cpp
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Expand Up @@ -93,15 +93,12 @@ visualization_msgs::msg::MarkerArray BlindSpotModule::createDebugMarkerArray()

const auto now = this->clock_->now();

appendMarkerArray(
createLaneletPolygonsMarkerArray(
debug_data_.conflict_areas, "conflict_area", module_id_, 0.0, 0.5, 0.5),
&debug_marker_array, now);

appendMarkerArray(
createLaneletPolygonsMarkerArray(
debug_data_.detection_areas, "detection_area", module_id_, 0.5, 0.0, 0.0),
&debug_marker_array, now);
if (debug_data_.detection_area) {
appendMarkerArray(
createLaneletPolygonsMarkerArray(
{debug_data_.detection_area.value()}, "detection_area", module_id_, 0.5, 0.0, 0.0),
&debug_marker_array, now);
}

appendMarkerArray(
debug::createObjectsMarkerArray(
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13 changes: 8 additions & 5 deletions planning/behavior_velocity_blind_spot_module/src/manager.cpp
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Expand Up @@ -36,17 +36,20 @@ BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node)
planner_param_.use_pass_judge_line =
getOrDeclareParameter<bool>(node, ns + ".use_pass_judge_line");
planner_param_.stop_line_margin = getOrDeclareParameter<double>(node, ns + ".stop_line_margin");
planner_param_.backward_length = getOrDeclareParameter<double>(node, ns + ".backward_length");
planner_param_.backward_detection_length =
getOrDeclareParameter<double>(node, ns + ".backward_detection_length");
planner_param_.ignore_width_from_center_line =
getOrDeclareParameter<double>(node, ns + ".ignore_width_from_center_line");
planner_param_.max_future_movement_time =
getOrDeclareParameter<double>(node, ns + ".max_future_movement_time");
planner_param_.threshold_yaw_diff =
getOrDeclareParameter<double>(node, ns + ".threshold_yaw_diff");
planner_param_.adjacent_extend_width =
getOrDeclareParameter<double>(node, ns + ".adjacent_extend_width");
planner_param_.opposite_adjacent_extend_width =
getOrDeclareParameter<double>(node, ns + ".opposite_adjacent_extend_width");
planner_param_.max_future_movement_time =
getOrDeclareParameter<double>(node, ns + ".max_future_movement_time");
planner_param_.ttc_min = getOrDeclareParameter<double>(node, ns + ".ttc_min");
planner_param_.ttc_max = getOrDeclareParameter<double>(node, ns + ".ttc_max");
planner_param_.ttc_ego_minimal_velocity =
getOrDeclareParameter<double>(node, ns + ".ttc_ego_minimal_velocity");
}

void BlindSpotModuleManager::launchNewModules(
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