From 22073802e6590f4f1e00be19efcbba47d96b19b7 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Thu, 4 Jan 2024 18:51:37 +0900 Subject: [PATCH] fix(avoidance): use nearest overhang point Signed-off-by: satoshi-ota --- .../src/scene.cpp | 4 +- .../data_structs.hpp | 19 ++-- .../behavior_path_avoidance_module/helper.hpp | 3 +- .../behavior_path_avoidance_module/utils.hpp | 4 +- .../src/debug.cpp | 8 +- .../src/shift_line_generator.cpp | 2 +- .../src/utils.cpp | 88 ++++++++----------- 7 files changed, 55 insertions(+), 73 deletions(-) diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp index 4e9750cd7a690..501d1c157d4df 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -265,8 +265,8 @@ ObjectData AvoidanceByLaneChange::createObjectData( : Direction::RIGHT; // Find the footprint point closest to the path, set to object_data.overhang_distance. - object_data.overhang_dist = utils::avoidance::calcEnvelopeOverhangDistance( - object_data, data.reference_path, object_data.overhang_pose.position); + object_data.overhang_points = + utils::avoidance::calcEnvelopeOverhangDistance(object_data, data.reference_path); // Check whether the the ego should avoid the object. const auto & vehicle_width = planner_data_->parameters.vehicle_width; diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp index 051a3cee9e196..a536fa1b568cb 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp @@ -336,12 +336,8 @@ struct ObjectData // avoidance target { ObjectData() = default; - ObjectData(PredictedObject obj, double lat, double lon, double len, double overhang) - : object(std::move(obj)), - to_centerline(lat), - longitudinal(lon), - length(len), - overhang_dist(overhang) + ObjectData(PredictedObject obj, double lat, double lon, double len) + : object(std::move(obj)), to_centerline(lat), longitudinal(lon), length(len) { } @@ -365,9 +361,6 @@ struct ObjectData // avoidance target // longitudinal length of vehicle, in Frenet coordinate double length{0.0}; - // lateral distance to the closest footprint, in Frenet coordinate - double overhang_dist{0.0}; - // lateral shiftable ratio double shiftable_ratio{0.0}; @@ -392,9 +385,6 @@ struct ObjectData // avoidance target // the position at the detected moment Pose init_pose; - // the position of the overhang - Pose overhang_pose; - // envelope polygon Polygon2d envelope_poly{}; @@ -425,6 +415,9 @@ struct ObjectData // avoidance target // object direction. Direction direction{Direction::NONE}; + // overhang points (sort by distance) + std::vector> overhang_points{}; + // unavoidable reason std::string reason{}; @@ -432,7 +425,7 @@ struct ObjectData // avoidance target std::optional avoid_margin{std::nullopt}; // the nearest bound point (use in road shoulder distance calculation) - std::optional nearest_bound_point{std::nullopt}; + std::optional> narrowest_place{std::nullopt}; }; using ObjectDataArray = std::vector; diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp index f5b797978b744..9c13f25eaddd2 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp @@ -176,7 +176,8 @@ class AvoidanceHelper { using utils::avoidance::calcShiftLength; - const auto shift_length = calcShiftLength(is_on_right, object.overhang_dist, margin); + const auto shift_length = + calcShiftLength(is_on_right, object.overhang_points.front().first, margin); return is_on_right ? std::min(shift_length, getLeftShiftBound()) : std::max(shift_length, getRightShiftBound()); } diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp index 4d8da502f3c55..afde14875030f 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp @@ -56,8 +56,8 @@ double lerpShiftLengthOnArc(double arc, const AvoidLine & al); void fillLongitudinalAndLengthByClosestEnvelopeFootprint( const PathWithLaneId & path, const Point & ego_pos, ObjectData & obj); -double calcEnvelopeOverhangDistance( - const ObjectData & object_data, const PathWithLaneId & path, Point & overhang_pose); +std::vector> calcEnvelopeOverhangDistance( + const ObjectData & object_data, const PathWithLaneId & path); void setEndData( AvoidLine & al, const double length, const geometry_msgs::msg::Pose & end, const size_t end_idx, diff --git a/planning/behavior_path_avoidance_module/src/debug.cpp b/planning/behavior_path_avoidance_module/src/debug.cpp index e097dd5341d64..a1c1a71e3c043 100644 --- a/planning/behavior_path_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_avoidance_module/src/debug.cpp @@ -113,7 +113,7 @@ MarkerArray createToDrivableBoundDistance(const ObjectDataArray & objects, std:: MarkerArray msg; for (const auto & object : objects) { - if (!object.nearest_bound_point.has_value()) { + if (!object.narrowest_place.has_value()) { continue; } @@ -122,8 +122,8 @@ MarkerArray createToDrivableBoundDistance(const ObjectDataArray & objects, std:: "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, 0L, Marker::LINE_STRIP, createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(1.0, 0.0, 0.42, 0.999)); - marker.points.push_back(object.overhang_pose.position); - marker.points.push_back(object.nearest_bound_point.value()); + marker.points.push_back(object.narrowest_place.value().first); + marker.points.push_back(object.narrowest_place.value().second); marker.id = uuidToInt32(object.object.object_id); msg.markers.push_back(marker); } @@ -133,7 +133,7 @@ MarkerArray createToDrivableBoundDistance(const ObjectDataArray & objects, std:: "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, 0L, Marker::TEXT_VIEW_FACING, createMarkerScale(0.5, 0.5, 0.5), createMarkerColor(1.0, 1.0, 0.0, 1.0)); - marker.pose.position = object.nearest_bound_point.value(); + marker.pose.position = object.narrowest_place.value().second; std::ostringstream string_stream; string_stream << object.to_road_shoulder_distance << "[m]"; marker.text = string_stream.str(); diff --git a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp index 6196b3e209d11..25b710c5fc722 100644 --- a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp @@ -219,7 +219,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( : -1.0 * feasible_relative_shift_length + current_ego_shift; const auto infeasible = - std::abs(feasible_shift_length - object.overhang_dist) < + std::abs(feasible_shift_length - object.overhang_points.front().first) < 0.5 * data_->parameters.vehicle_width + object_parameter.safety_buffer_lateral; if (infeasible) { RCLCPP_DEBUG(rclcpp::get_logger(""), "feasible shift length is not enough to avoid. "); diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index 4ea9db5f74bc3..a91ccbaf1a4e8 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_avoidance_module/src/utils.cpp @@ -819,8 +819,8 @@ bool isNoNeedAvoidanceBehavior( return false; } - const auto shift_length = - calcShiftLength(isOnRight(object), object.overhang_dist, object.avoid_margin.value()); + const auto shift_length = calcShiftLength( + isOnRight(object), object.overhang_points.front().first, object.avoid_margin.value()); if (!isShiftNecessary(isOnRight(object), shift_length)) { object.reason = "NotNeedAvoidance"; return true; @@ -881,40 +881,41 @@ double getRoadShoulderDistance( return 0.0; } - const auto centerline_pose = - lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object_pose.position); - const auto & p1_object = object.overhang_pose.position; - const auto p_tmp = - geometry_msgs::build().position(p1_object).orientation(centerline_pose.orientation); - const auto p2_object = - calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? 100.0 : -100.0), 0.0).position; + std::vector> intersects; + for (const auto & p1 : object.overhang_points) { + const auto centerline_pose = + lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object_pose.position); + const auto p_tmp = + geometry_msgs::build().position(p1.second).orientation(centerline_pose.orientation); + const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? 100.0 : -100.0), 0.0).position; - // TODO(Satoshi OTA): check if the basic point is on right or left of bound. - const auto bound = isOnRight(object) ? data.left_bound : data.right_bound; + // TODO(Satoshi OTA): check if the basic point is on right or left of bound. + const auto bound = isOnRight(object) ? data.left_bound : data.right_bound; - std::vector intersects; - for (size_t i = 1; i < bound.size(); i++) { - const auto opt_intersect = - tier4_autoware_utils::intersect(p1_object, p2_object, bound.at(i - 1), bound.at(i)); + for (size_t i = 1; i < bound.size(); i++) { + const auto opt_intersect = + tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i)); - if (!opt_intersect) { - continue; - } + if (!opt_intersect) { + continue; + } - intersects.push_back(opt_intersect.value()); + intersects.emplace_back(p1.second, opt_intersect.value()); + } } + std::sort(intersects.begin(), intersects.end(), [](const auto & a, const auto & b) { + return calcDistance2d(a.first, a.second) < calcDistance2d(b.first, b.second); + }); + if (intersects.empty()) { return 0.0; } - std::sort(intersects.begin(), intersects.end(), [&p1_object](const auto & a, const auto & b) { - return calcDistance2d(p1_object, a) < calcDistance2d(p1_object, b); - }); - - object.nearest_bound_point = intersects.front(); + object.narrowest_place = intersects.front(); - return calcDistance2d(p1_object, object.nearest_bound_point.value()); + return calcDistance2d( + object.narrowest_place.value().first, object.narrowest_place.value().second); } } // namespace filtering_utils @@ -1070,34 +1071,22 @@ void fillLongitudinalAndLengthByClosestEnvelopeFootprint( return; } -double calcEnvelopeOverhangDistance( - const ObjectData & object_data, const PathWithLaneId & path, Point & overhang_pose) +std::vector> calcEnvelopeOverhangDistance( + const ObjectData & object_data, const PathWithLaneId & path) { - double largest_overhang = isOnRight(object_data) ? -100.0 : 100.0; // large number + std::vector> overhang_points{}; for (const auto & p : object_data.envelope_poly.outer()) { const auto point = tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0); // TODO(someone): search around first position where the ego should avoid the object. const auto idx = findNearestIndex(path.points, point); const auto lateral = calcLateralDeviation(getPose(path.points.at(idx)), point); - - const auto & overhang_pose_on_right = [&overhang_pose, &largest_overhang, &point, &lateral]() { - if (lateral > largest_overhang) { - overhang_pose = point; - } - return std::max(largest_overhang, lateral); - }; - - const auto & overhang_pose_on_left = [&overhang_pose, &largest_overhang, &point, &lateral]() { - if (lateral < largest_overhang) { - overhang_pose = point; - } - return std::min(largest_overhang, lateral); - }; - - largest_overhang = isOnRight(object_data) ? overhang_pose_on_right() : overhang_pose_on_left(); + overhang_points.emplace_back(lateral, point); } - return largest_overhang; + std::sort(overhang_points.begin(), overhang_points.end(), [&](const auto & a, const auto & b) { + return isOnRight(object_data) ? b.first < a.first : a.first < b.first; + }); + return overhang_points; } void setEndData( @@ -1442,10 +1431,10 @@ void fillAvoidanceNecessity( 0.5 * vehicle_width + object_parameter.safety_buffer_lateral * object_data.distance_factor; const auto check_necessity = [&](const auto hysteresis_factor) { - return (isOnRight(object_data) && - std::abs(object_data.overhang_dist) < safety_margin * hysteresis_factor) || + return (isOnRight(object_data) && std::abs(object_data.overhang_points.front().first) < + safety_margin * hysteresis_factor) || (!isOnRight(object_data) && - object_data.overhang_dist < safety_margin * hysteresis_factor); + object_data.overhang_points.front().first < safety_margin * hysteresis_factor); }; const auto id = object_data.object.object_id; @@ -1663,8 +1652,7 @@ void filterTargetObjects( } // Find the footprint point closest to the path, set to object_data.overhang_distance. - o.overhang_dist = - calcEnvelopeOverhangDistance(o, data.reference_path, o.overhang_pose.position); + o.overhang_points = utils::avoidance::calcEnvelopeOverhangDistance(o, data.reference_path); o.to_road_shoulder_distance = filtering_utils::getRoadShoulderDistance(o, data, planner_data); o.avoid_margin = filtering_utils::getAvoidMargin(o, planner_data, parameters);