diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 8bb4947c56e3b..162dd855a577a 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -30,7 +30,7 @@ ament_auto_add_library(behavior_path_planner_node SHARED src/turn_signal_decider.cpp src/utils/utils.cpp src/utils/path_utils.cpp - src/utils/safety_check.cpp + src/utils/path_safety_checker/safety_check.cpp src/utils/avoidance/utils.cpp src/utils/lane_change/utils.cpp src/utils/side_shift/util.cpp diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_safety_check.md b/planning/behavior_path_planner/docs/behavior_path_planner_safety_check.md index 2d8ec7a6b2de3..30e2093cb465e 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_safety_check.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_safety_check.md @@ -22,7 +22,7 @@ Currently the yaw angle of each point of predicted paths of a target object does The flow of the safety check algorithm is described in the following explanations. -![safety_check_flow](../image/safety_check/safety_check_flow.drawio.svg) +![safety_check_flow](../image/path_safety_checker/safety_check_flow.drawio.svg) Here we explain each step of the algorithm flow. @@ -38,7 +38,7 @@ With the interpolated pose obtained in the step.1, we check if the object and eg After the overlap check, it starts to perform the safety check for the broader range. In this step, it judges if ego or target object is in front of the other vehicle. We use arc length of the front point of each object along the given path to judge which one is in front of the other. In the following example, target object (red rectangle) is running in front of the ego vehicle (black rectangle). -![front_object](../image/safety_check/front_object.drawio.svg) +![front_object](../image/path_safety_checker/front_object.drawio.svg) #### 4. Calculate RSS distance @@ -54,7 +54,7 @@ where $V_{front}$, $v_{rear}$ are front and rear vehicle velocity respectively a In this step, we compute extended ego and target object polygons. The extended polygons can be described as: -![extended_polygons](../image/safety_check/extended_polygons.drawio.svg) +![extended_polygons](../image/path_safety_checker/extended_polygons.drawio.svg) As the picture shows, we expand the rear object polygon. For the longitudinal side, we extend it with the RSS distance, and for the lateral side, we extend it by the lateral margin diff --git a/planning/behavior_path_planner/image/safety_check/extended_polygons.drawio.svg b/planning/behavior_path_planner/image/path_safety_checker/extended_polygons.drawio.svg similarity index 100% rename from planning/behavior_path_planner/image/safety_check/extended_polygons.drawio.svg rename to planning/behavior_path_planner/image/path_safety_checker/extended_polygons.drawio.svg diff --git a/planning/behavior_path_planner/image/safety_check/front_object.drawio.svg b/planning/behavior_path_planner/image/path_safety_checker/front_object.drawio.svg similarity index 100% rename from planning/behavior_path_planner/image/safety_check/front_object.drawio.svg rename to planning/behavior_path_planner/image/path_safety_checker/front_object.drawio.svg diff --git a/planning/behavior_path_planner/image/safety_check/safety_check_flow.drawio.svg b/planning/behavior_path_planner/image/path_safety_checker/safety_check_flow.drawio.svg similarity index 100% rename from planning/behavior_path_planner/image/safety_check/safety_check_flow.drawio.svg rename to planning/behavior_path_planner/image/path_safety_checker/safety_check_flow.drawio.svg diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp index 436fbed76cf5e..b2ed205680b45 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp @@ -19,7 +19,7 @@ #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp" #include "behavior_path_planner/utils/avoidance/helper.hpp" -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp index 5f1ccbcc9aedf..27128e92ab971 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp @@ -17,7 +17,7 @@ #include "behavior_path_planner/data_manager.hpp" #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp" -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index 88ddeba83b8c8..7a3e96aa3fa3d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -15,7 +15,7 @@ #define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_ #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp" -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "lanelet2_core/geometry/Lanelet.h" #include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp" diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp index 266c52918c567..5fa22a8935bf2 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp @@ -19,7 +19,7 @@ #include "behavior_path_planner/parameters.hpp" #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp" #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp" -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/utils.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp similarity index 95% rename from planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp rename to planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp index d2671ff32a787..55bac83442e84 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_ -#define BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_ +#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_ #include "behavior_path_planner/data_manager.hpp" #include "behavior_path_planner/marker_utils/utils.hpp" @@ -147,4 +147,4 @@ bool checkCollision( } // namespace behavior_path_planner::utils::safety_check -#endif // BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_ +#endif // BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index e56360922b56c..088a0f0bd795b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -19,7 +19,7 @@ #include "behavior_path_planner/marker_utils/utils.hpp" #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp" #include "behavior_path_planner/utils/lane_following/module_data.hpp" -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/start_planner/pull_out_path.hpp" #include "motion_utils/motion_utils.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp index c22c07c0e80c5..0e68862f12a5a 100644 --- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp +++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp @@ -17,9 +17,9 @@ #include "behavior_path_planner/parameters.hpp" #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp" #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include "behavior_path_planner/utils/path_utils.hpp" -#include "behavior_path_planner/utils/safety_check.hpp" #include "behavior_path_planner/utils/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/utils/safety_check.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp similarity index 99% rename from planning/behavior_path_planner/src/utils/safety_check.cpp rename to planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp index 01d10b2aeec1e..23c2951d30a38 100644 --- a/planning/behavior_path_planner/src/utils/safety_check.cpp +++ b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/marker_utils/utils.hpp" #include "interpolation/linear_interpolation.hpp" diff --git a/planning/behavior_path_planner/test/test_lane_change_utils.cpp b/planning/behavior_path_planner/test/test_lane_change_utils.cpp index 21538de073d35..3a809509641f4 100644 --- a/planning/behavior_path_planner/test/test_lane_change_utils.cpp +++ b/planning/behavior_path_planner/test/test_lane_change_utils.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "tier4_autoware_utils/tier4_autoware_utils.hpp" #include diff --git a/planning/behavior_path_planner/test/test_safety_check.cpp b/planning/behavior_path_planner/test/test_safety_check.cpp index 47c619c310f4d..4058956ceff3f 100644 --- a/planning/behavior_path_planner/test/test_safety_check.cpp +++ b/planning/behavior_path_planner/test/test_safety_check.cpp @@ -13,7 +13,7 @@ // limitations under the License. #include "behavior_path_planner/marker_utils/utils.hpp" -#include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "tier4_autoware_utils/tier4_autoware_utils.hpp" #include