feat(behavior_velocity_traffic_light): ensure stopping if a signal, o…

…nce received, is not received again (autowarefoundation#6468) * feat(behavior_velocity_traffic_light): ensure stopping if a signal, once received, is not received again." Signed-off-by: Tomohito Ando <[email protected]> * add comments for clarity Signed-off-by: Tomohito Ando <[email protected]> * fix comments for clarity Signed-off-by: Tomohito Ando <[email protected]> --------- Signed-off-by: Tomohito Ando <[email protected]>
tier4 · Feb 26, 2024 · 2d98b85 · 2d98b85
1 parent e679085
commit 2d98b85
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Showing 3 changed files with 16 additions and 2 deletions.
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
@@ -327,6 +327,8 @@ void BehaviorVelocityPlannerNode::onTrafficSignals(
 {
   std::lock_guard<std::mutex> lock(mutex_);
 
+  planner_data_.has_received_signal_ = true;
+
   for (const auto & signal : msg->signals) {
     TrafficSignalStamped traffic_signal;
     traffic_signal.stamp = msg->stamp;

diff --git a/...ehavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp b/...ehavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp
@@ -82,6 +82,9 @@ struct PlannerData
   std::map<int, TrafficSignalTimeToRedStamped> traffic_light_time_to_red_id_map;
   tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr virtual_traffic_light_states;
 
+  // this value becomes true once the signal message is received
+  bool has_received_signal_ = false;
+
   // velocity smoother
   std::shared_ptr<motion_velocity_smoother::SmootherBase> velocity_smoother_;
   // route handler

diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -303,11 +303,20 @@ bool TrafficLightModule::isStopSignal()
 {
   updateTrafficSignal();
 
-  // If it never receives traffic signal, it will PASS.
-  if (!traffic_signal_stamp_) {
+  // Pass through if no traffic signal information has been received yet
+  // This is to prevent stopping on the planning simulator
+  if (!planner_data_->has_received_signal_) {
     return false;
   }
 
+  // Stop if there is no upcoming traffic signal information
+  // This is to safely stop in cases such that traffic light recognition is not working properly or
+  // the map is incorrect
+  if (!traffic_signal_stamp_) {
+    return true;
+  }
+
+  // Stop if the traffic signal information has timed out
   if (isTrafficSignalTimedOut()) {
     return true;
   }