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Merge pull request #1166 from tier4/cherry-pick/pr6504
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fix(mission_planner): find the first common interval naively for main/mrm reroute check (autowarefoundation#6504)
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@mkuri
mkuri authored Apr 4, 2024
2 parents e6b1278 + d47e863 commit a65c73b
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Showing 2 changed files with 119 additions and 83 deletions.
201 changes: 118 additions & 83 deletions planning/mission_planner/src/mission_planner/mission_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#include <algorithm>
#include <array>
#include <random>
#include <utility>

namespace
{
Expand Down Expand Up @@ -172,6 +173,8 @@ void MissionPlanner::on_reroute_availability(const RerouteAvailability::ConstSha
void MissionPlanner::on_map(const HADMapBin::ConstSharedPtr msg)
{
map_ptr_ = msg;
lanelet_map_ptr_ = std::make_shared<lanelet::LaneletMap>();
lanelet::utils::conversion::fromBinMsg(*map_ptr_, lanelet_map_ptr_);
}

PoseStamped MissionPlanner::transform_pose(const PoseStamped & input)
Expand Down Expand Up @@ -730,7 +733,10 @@ void MissionPlanner::on_change_route_points(
bool MissionPlanner::check_reroute_safety(
const LaneletRoute & original_route, const LaneletRoute & target_route)
{
if (original_route.segments.empty() || target_route.segments.empty() || !map_ptr_ || !odometry_) {
if (
original_route.segments.empty() || target_route.segments.empty() || !map_ptr_ ||
!lanelet_map_ptr_ || !odometry_) {
RCLCPP_ERROR(get_logger(), "Check reroute safety failed. Route, map or odometry is not set.");
return false;
}

Expand All @@ -748,109 +754,135 @@ bool MissionPlanner::check_reroute_safety(
return false;
}

bool is_same = false;
for (const auto & primitive : original_primitives) {
const auto has_same = [&](const auto & p) { return p.id == primitive.id; };
is_same = std::find_if(target_primitives.begin(), target_primitives.end(), has_same) !=
target_primitives.end();
}
return is_same;
};

// find idx of original primitives that matches the target primitives
const auto start_idx_opt = std::invoke([&]() -> std::optional<size_t> {
/*
* find the index of the original route that has same idx with the front segment of the new
* route
*
* start_idx
* +-----------+-----------+-----------+-----------+-----------+
* | | | | | |
* +-----------+-----------+-----------+-----------+-----------+
* | | | | | |
* +-----------+-----------+-----------+-----------+-----------+
* original original original original original
* target target target
*/
const auto target_front_primitives = target_route.segments.front().primitives;
for (size_t i = 0; i < original_route.segments.size(); ++i) {
const auto & original_primitives = original_route.segments.at(i).primitives;
if (hasSamePrimitives(original_primitives, target_front_primitives)) {
return i;
const bool is_same =
std::find_if(target_primitives.begin(), target_primitives.end(), has_same) !=
target_primitives.end();
if (!is_same) {
return false;
}
}
return true;
};

/*
* find the target route that has same idx with the front segment of the original route
*
* start_idx
* +-----------+-----------+-----------+-----------+-----------+
* | | | | | |
* +-----------+-----------+-----------+-----------+-----------+
* | | | | | |
* +-----------+-----------+-----------+-----------+-----------+
* 　　　　　　　　　　　　　　　original original original
* target target target target target
*/
const auto original_front_primitives = original_route.segments.front().primitives;
for (size_t i = 0; i < target_route.segments.size(); ++i) {
const auto & target_primitives = target_route.segments.at(i).primitives;
if (hasSamePrimitives(target_primitives, original_front_primitives)) {
return 0;
// =============================================================================================
// NOTE: the target route is calculated while ego is driving on the original route, so basically
// the first lane of the target route should be in the original route lanelets. So the common
// segment interval matches the beginning of the target route. The exception is that if ego is
// on an intersection lanelet, getClosestLanelet() may not return the same lanelet which exists
// in the original route. In that case the common segment interval does not match the beginning of
// the target lanelet
// =============================================================================================
const auto start_idx_opt =
std::invoke([&]() -> std::optional<std::pair<size_t /* original */, size_t /* target */>> {
for (size_t i = 0; i < original_route.segments.size(); ++i) {
const auto & original_segment = original_route.segments.at(i).primitives;
for (size_t j = 0; j < target_route.segments.size(); ++j) {
const auto & target_segment = target_route.segments.at(j).primitives;
if (hasSamePrimitives(original_segment, target_segment)) {
return std::make_pair(i, j);
}
}
}
}

return std::nullopt;
});
return std::nullopt;
});
if (!start_idx_opt.has_value()) {
RCLCPP_ERROR(
get_logger(), "Check reroute safety failed. Cannot find the start index of the route.");
return false;
}
const size_t start_idx = start_idx_opt.value();
const auto [start_idx_original, start_idx_target] = start_idx_opt.value();

// find last idx that matches the target primitives
size_t end_idx = start_idx;
for (size_t i = 1; i < target_route.segments.size(); ++i) {
if (start_idx + i > original_route.segments.size() - 1) {
size_t end_idx_original = start_idx_original;
size_t end_idx_target = start_idx_target;
for (size_t i = 1; i < target_route.segments.size() - start_idx_target; ++i) {
if (start_idx_original + i > original_route.segments.size() - 1) {
break;
}

const auto & original_primitives = original_route.segments.at(start_idx + i).primitives;
const auto & target_primitives = target_route.segments.at(i).primitives;
const auto & original_primitives =
original_route.segments.at(start_idx_original + i).primitives;
const auto & target_primitives = target_route.segments.at(start_idx_target + i).primitives;
if (!hasSamePrimitives(original_primitives, target_primitives)) {
break;
}
end_idx = start_idx + i;
end_idx_original = start_idx_original + i;
end_idx_target = start_idx_target + i;
}

// at the very first transition from main/MRM to MRM/main, the requested route from the
// route_selector may not begin from ego current lane (because route_selector requests the
// previous route once, and then replan)
const bool ego_is_on_first_target_section = std::any_of(
target_route.segments.front().primitives.begin(),
target_route.segments.front().primitives.end(), [&](const auto & primitive) {
const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id);
return lanelet::utils::isInLanelet(target_route.start_pose, lanelet);
});
if (!ego_is_on_first_target_section) {
RCLCPP_ERROR(
get_logger(),
"Check reroute safety failed. Ego is not on the first section of target route.");
return false;
}

// create map
auto lanelet_map_ptr_ = std::make_shared<lanelet::LaneletMap>();
lanelet::utils::conversion::fromBinMsg(*map_ptr_, lanelet_map_ptr_);
// if the front of target route is not the front of common segment, it is expected that the front
// of the target route is conflicting with another lane which is equal to original
// route[start_idx_original-1]
double accumulated_length = 0.0;

// compute distance from the current pose to the end of the current lanelet
const auto current_pose = target_route.start_pose;
const auto primitives = original_route.segments.at(start_idx).primitives;
lanelet::ConstLanelets start_lanelets;
for (const auto & primitive : primitives) {
const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id);
start_lanelets.push_back(lanelet);
}
if (start_idx_target != 0 && start_idx_original > 1) {
// compute distance from the current pose to the beginning of the common segment
const auto current_pose = target_route.start_pose;
const auto primitives = original_route.segments.at(start_idx_original - 1).primitives;
lanelet::ConstLanelets start_lanelets;
for (const auto & primitive : primitives) {
const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id);
start_lanelets.push_back(lanelet);
}
// closest lanelet in start lanelets
lanelet::ConstLanelet closest_lanelet;
if (!lanelet::utils::query::getClosestLanelet(start_lanelets, current_pose, &closest_lanelet)) {
RCLCPP_ERROR(get_logger(), "Check reroute safety failed. Cannot find the closest lanelet.");
return false;
}

// get closest lanelet in start lanelets
lanelet::ConstLanelet closest_lanelet;
if (!lanelet::utils::query::getClosestLanelet(start_lanelets, current_pose, &closest_lanelet)) {
return false;
}
const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline());
const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(current_pose.position);
const auto arc_coordinates = lanelet::geometry::toArcCoordinates(
centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint());
const double dist_to_current_pose = arc_coordinates.length;
const double lanelet_length = lanelet::utils::getLaneletLength2d(closest_lanelet);
accumulated_length = lanelet_length - dist_to_current_pose;
} else {
// compute distance from the current pose to the end of the current lanelet
const auto current_pose = target_route.start_pose;
const auto primitives = original_route.segments.at(start_idx_original).primitives;
lanelet::ConstLanelets start_lanelets;
for (const auto & primitive : primitives) {
const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id);
start_lanelets.push_back(lanelet);
}
// closest lanelet in start lanelets
lanelet::ConstLanelet closest_lanelet;
if (!lanelet::utils::query::getClosestLanelet(start_lanelets, current_pose, &closest_lanelet)) {
RCLCPP_ERROR(get_logger(), "Check reroute safety failed. Cannot find the closest lanelet.");
return false;
}

const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline());
const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(current_pose.position);
const auto arc_coordinates = lanelet::geometry::toArcCoordinates(
centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint());
const double dist_to_current_pose = arc_coordinates.length;
const double lanelet_length = lanelet::utils::getLaneletLength2d(closest_lanelet);
double accumulated_length = lanelet_length - dist_to_current_pose;
const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline());
const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(current_pose.position);
const auto arc_coordinates = lanelet::geometry::toArcCoordinates(
centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint());
const double dist_to_current_pose = arc_coordinates.length;
const double lanelet_length = lanelet::utils::getLaneletLength2d(closest_lanelet);
accumulated_length = lanelet_length - dist_to_current_pose;
}

// compute distance from the start_idx+1 to end_idx
for (size_t i = start_idx + 1; i <= end_idx; ++i) {
for (size_t i = start_idx_original + 1; i <= end_idx_original; ++i) {
const auto primitives = original_route.segments.at(i).primitives;
if (primitives.empty()) {
break;
Expand All @@ -866,7 +898,7 @@ bool MissionPlanner::check_reroute_safety(
}

// check if the goal is inside of the target terminal lanelet
const auto & target_end_primitives = target_route.segments.at(end_idx - start_idx).primitives;
const auto & target_end_primitives = target_route.segments.at(end_idx_target).primitives;
const auto & target_goal = target_route.goal_pose;
for (const auto & target_end_primitive : target_end_primitives) {
const auto lanelet = lanelet_map_ptr_->laneletLayer.get(target_end_primitive.id);
Expand All @@ -878,8 +910,11 @@ bool MissionPlanner::check_reroute_safety(
lanelet::utils::to2D(target_goal_position).basicPoint())
.length;
const double target_lanelet_length = lanelet::utils::getLaneletLength2d(lanelet);
const double dist = target_lanelet_length - dist_to_goal;
accumulated_length = std::max(accumulated_length - dist, 0.0);
// NOTE: `accumulated_length` here contains the length of the entire target_end_primitive, so
// the remaining distance from the goal to the end of the target_end_primitive needs to be
// subtracted.
const double remaining_dist = target_lanelet_length - dist_to_goal;
accumulated_length = std::max(accumulated_length - remaining_dist, 0.0);
break;
}
}
Expand Down
1 change: 1 addition & 0 deletions planning/mission_planner/src/mission_planner/mission_planner.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,6 +148,7 @@ class MissionPlanner : public rclcpp::Node

std::shared_ptr<LaneletRoute> normal_route_{nullptr};
std::shared_ptr<LaneletRoute> mrm_route_{nullptr};
lanelet::LaneletMapPtr lanelet_map_ptr_{nullptr};

std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
};
Expand Down

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