From 92868c099304b9c37e5e9983e3a79d5c8c6f9d5d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 18 Oct 2024 08:26:29 +0900 Subject: [PATCH] fix(avoidance): don't insert stop line if the ego can't avoid or return (#9089) * fix(avoidance): don't insert stop line if the ego can't avoid or return Signed-off-by: satoshi-ota * fix: build error Signed-off-by: satoshi-ota * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp Co-authored-by: Go Sakayori --------- Signed-off-by: satoshi-ota Co-authored-by: Go Sakayori --- .../helper.hpp | 13 +++++++++++++ .../src/scene.cpp | 19 +++++++++++++++++++ 2 files changed, 32 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index b59dc9e91e23c..7672ded75f1fd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -321,6 +321,19 @@ class AvoidanceHelper }); } + bool isFeasible(const AvoidLineArray & shift_lines) const + { + constexpr double JERK_BUFFER = 0.1; // [m/sss] + const auto & values = parameters_->velocity_map; + const auto idx = getConstraintsMapIndex(0.0, values); // use minimum avoidance speed + const auto jerk_limit = parameters_->lateral_max_jerk_map.at(idx); + return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) { + return autoware::motion_utils::calc_jerk_from_lat_lon_distance( + line.getRelativeLength(), line.getRelativeLongitudinal(), values.at(idx)) < + jerk_limit + JERK_BUFFER; + }); + } + bool isReady(const ObjectDataArray & objects) const { if (objects.empty()) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 2c5950bfeae0c..fb63180be7ac4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -1630,6 +1630,11 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto & data = avoid_data_; + if (data.new_shift_line.empty()) { + RCLCPP_WARN(getLogger(), "module doesn't have return shift line."); + return; + } + if (data.to_return_point > planner_data_->parameters.forward_path_length) { RCLCPP_DEBUG(getLogger(), "return dead line is far enough."); return; @@ -1642,6 +1647,11 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( return; } + if (!helper_->isFeasible(data.new_shift_line)) { + RCLCPP_WARN(getLogger(), "return shift line is not feasible. do nothing.."); + return; + } + // Consider the difference in path length between the shifted path and original path (the path // that is shifted inward has a shorter distance to the end of the path than the other one.) const auto & to_reference_path_end = data.arclength_from_ego.back(); @@ -1652,6 +1662,10 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( const auto min_return_distance = helper_->getMinAvoidanceDistance(shift_length) + helper_->getNominalPrepareDistance(0.0); const auto to_stop_line = data.to_return_point - min_return_distance - buffer; + if (to_stop_line < 0.0) { + RCLCPP_WARN(getLogger(), "ego overran return shift dead line. do nothing."); + return; + } // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately @@ -1721,6 +1735,11 @@ void StaticObstacleAvoidanceModule::insertWaitPoint( return; } + if (data.to_stop_line < 0.0) { + RCLCPP_WARN(getLogger(), "ego overran avoidance dead line. do nothing."); + return; + } + // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately if (!use_constraints_for_decel) {