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feat(behavior_velocity_planner): improve pull over and pull out module #251

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merged 2 commits into from
Jan 19, 2023
Merged

feat(behavior_velocity_planner): improve pull over and pull out module #251

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8cb8485
fix(behavior_path_planner): fix pull out length to lane end (#2692)
kosuke55 Jan 19, 2023
536895a
fix(behavior_path_planner): modify pull out stop path (#2678)
tkimura4 Jan 19, 2023
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2 changes: 1 addition & 1 deletion ...vior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ class PullOutModule : public SceneModuleInterface
const std::vector<Pose> & start_pose_candidates, const Pose & goal_pose);
void planWithPriorityOnShortBackDistance(
const std::vector<Pose> & start_pose_candidates, const Pose & goal_pose);
void generateStopPath();
PathWithLaneId generateStopPath() const;
void updatePullOutStatus();
static bool isOverlappedWithLane(
const lanelet::ConstLanelet & candidate_lanelet,
Expand Down
29 changes: 21 additions & 8 deletions planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,6 +176,9 @@ BehaviorModuleOutput PullOutModule::plan()
if (!status_.is_safe) {
RCLCPP_WARN_THROTTLE(
getLogger(), *clock_, 5000, "Not found safe pull out path, publish stop path");
const PathWithLaneId stop_path = generateStopPath();
output.path = std::make_shared<PathWithLaneId>(stop_path);
path_candidate_ = std::make_shared<PathWithLaneId>(stop_path);
return output;
}

Expand Down Expand Up @@ -430,11 +433,11 @@ void PullOutModule::planWithPriorityOnShortBackDistance(
}
}

void PullOutModule::generateStopPath()
PathWithLaneId PullOutModule::generateStopPath() const
{
const auto & current_pose = planner_data_->self_pose->pose;
constexpr double dummy_path_distance = 1.0;
const auto & moved_pose = calcOffsetPose(current_pose, dummy_path_distance, 0, 0);
const auto moved_pose = calcOffsetPose(current_pose, dummy_path_distance, 0, 0);

// convert Pose to PathPointWithLaneId with 0 velocity.
auto toPathPointWithLaneId = [this](const Pose & pose) {
Expand All @@ -452,9 +455,15 @@ void PullOutModule::generateStopPath()
path.points.push_back(toPathPointWithLaneId(current_pose));
path.points.push_back(toPathPointWithLaneId(moved_pose));

status_.pull_out_path.partial_paths.push_back(path);
status_.pull_out_path.start_pose = current_pose;
status_.pull_out_path.end_pose = current_pose;
// generate drivable area
const auto shorten_lanes = util::cutOverlappedLanes(path, status_.lanes);
const auto expanded_lanes = util::expandLanelets(
shorten_lanes, parameters_.drivable_area_left_bound_offset,
parameters_.drivable_area_right_bound_offset);
util::generateDrivableArea(
path, expanded_lanes, planner_data_->parameters.vehicle_length, planner_data_);

return path;
}

void PullOutModule::updatePullOutStatus()
Expand Down Expand Up @@ -498,7 +507,9 @@ void PullOutModule::updatePullOutStatus()
RCLCPP_WARN_THROTTLE(
getLogger(), *clock_, 5000, "Not found safe pull out path, generate stop path");
status_.back_finished = true; // no need to drive backward
generateStopPath();
status_.pull_out_path.partial_paths.push_back(generateStopPath());
status_.pull_out_path.start_pose = current_pose;
status_.pull_out_path.end_pose = current_pose;
}

checkBackFinished();
Expand Down Expand Up @@ -546,8 +557,10 @@ std::vector<Pose> PullOutModule::searchBackedPoses()
// check the back pose is near the lane end
const double length_to_backed_pose =
lanelet::utils::getArcCoordinates(status_.pull_out_lanes, *backed_pose).length;
const double length_to_lane_end =
lanelet::utils::getLaneletLength2d(status_.pull_out_lanes.back());
double length_to_lane_end = 0.0;
for (const auto & lane : status_.pull_out_lanes) {
length_to_lane_end += lanelet::utils::getLaneletLength2d(lane);
}
const double distance_from_lane_end = length_to_lane_end - length_to_backed_pose;
if (distance_from_lane_end < parameters_.ignore_distance_from_lane_end) {
RCLCPP_WARN_THROTTLE(
Expand Down