feat(avoidance): consider ignore object in avoid margin calculation

Signed-off-by: satoshi-ota <[email protected]>

planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp

@@ -30,16 +30,6 @@
 
 namespace behavior_path_planner
 {
-namespace
-{
-lanelet::BasicLineString3d toLineString3d(const std::vector<Point> & bound)
-{
-  lanelet::BasicLineString3d ret{};
-  std::for_each(
-    bound.begin(), bound.end(), [&](const auto & p) { ret.emplace_back(p.x, p.y, p.z); });
-  return ret;
-}
-}  // namespace
 AvoidanceByLaneChange::AvoidanceByLaneChange(
   const std::shared_ptr<LaneChangeParameters> & parameters,
   std::shared_ptr<AvoidanceByLCParameters> avoidance_parameters)
@@ -172,10 +162,10 @@ AvoidancePlanningData AvoidanceByLaneChange::calcAvoidancePlanningData(
   // calc drivable bound
   const auto shorten_lanes =
     utils::cutOverlappedLanes(data.reference_path_rough, data.drivable_lanes);
-  data.left_bound = toLineString3d(utils::calcBound(
-    data.reference_path_rough, planner_data_, shorten_lanes, false, false, false, true));
-  data.right_bound = toLineString3d(utils::calcBound(
-    data.reference_path_rough, planner_data_, shorten_lanes, false, false, false, false));
+  data.left_bound = utils::calcBound(
+    data.reference_path_rough, planner_data_, shorten_lanes, false, false, false, true);
+  data.right_bound = utils::calcBound(
+    data.reference_path_rough, planner_data_, shorten_lanes, false, false, false, false);
 
   // get related objects from dynamic_objects, and then separates them as target objects and non
   // target objects

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp

@@ -541,9 +541,9 @@ struct AvoidancePlanningData
 
   std::vector<DrivableLanes> drivable_lanes{};
 
-  lanelet::BasicLineString3d right_bound{};
+  std::vector<Point> right_bound{};
 
-  lanelet::BasicLineString3d left_bound{};
+  std::vector<Point> left_bound{};
 
   bool safe{false};
 

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp

@@ -127,6 +127,10 @@ void filterTargetObjects(
   const std::shared_ptr<const PlannerData> & planner_data,
   const std::shared_ptr<AvoidanceParameters> & parameters);
 
+void updateRoadShoulderDistance(
+  AvoidancePlanningData & data, const std::shared_ptr<const PlannerData> & planner_data,
+  const std::shared_ptr<AvoidanceParameters> & parameters);
+
 void fillAdditionalInfoFromPoint(const AvoidancePlanningData & data, AvoidLineArray & lines);
 
 void fillAdditionalInfoFromLongitudinal(const AvoidancePlanningData & data, AvoidLine & line);

planning/behavior_path_avoidance_module/src/debug.cpp

@@ -469,7 +469,7 @@ MarkerArray createDrivableBounds(
       createMarkerColor(r, g, b, 0.999));
 
     for (const auto & p : data.right_bound) {
-      marker.points.push_back(createPoint(p.x(), p.y(), p.z()));
+      marker.points.push_back(p);
     }
 
     msg.markers.push_back(marker);
@@ -482,7 +482,7 @@ MarkerArray createDrivableBounds(
       createMarkerColor(r, g, b, 0.999));
 
     for (const auto & p : data.left_bound) {
-      marker.points.push_back(createPoint(p.x(), p.y(), p.z()));
+      marker.points.push_back(p);
     }
 
     msg.markers.push_back(marker);

planning/behavior_path_avoidance_module/src/scene.cpp

@@ -234,14 +234,14 @@ void AvoidanceModule::fillFundamentalData(AvoidancePlanningData & data, DebugDat
   // calc drivable bound
   auto tmp_path = getPreviousModuleOutput().path;
   const auto shorten_lanes = utils::cutOverlappedLanes(tmp_path, data.drivable_lanes);
-  data.left_bound = toLineString3d(utils::calcBound(
+  data.left_bound = utils::calcBound(
     getPreviousModuleOutput().path, planner_data_, shorten_lanes,
     parameters_->use_hatched_road_markings, parameters_->use_intersection_areas,
-    parameters_->use_freespace_areas, true));
-  data.right_bound = toLineString3d(utils::calcBound(
+    parameters_->use_freespace_areas, true);
+  data.right_bound = utils::calcBound(
     getPreviousModuleOutput().path, planner_data_, shorten_lanes,
     parameters_->use_hatched_road_markings, parameters_->use_intersection_areas,
-    parameters_->use_freespace_areas, false));
+    parameters_->use_freespace_areas, false);
 
   // reference path
   if (isDrivingSameLane(helper_->getPreviousDrivingLanes(), data.current_lanelets)) {
@@ -294,6 +294,7 @@ void AvoidanceModule::fillAvoidanceTargetObjects(
   using utils::avoidance::filterTargetObjects;
   using utils::avoidance::getTargetLanelets;
   using utils::avoidance::separateObjectsByPath;
+  using utils::avoidance::updateRoadShoulderDistance;
 
   // Separate dynamic objects based on whether they are inside or outside of the expanded lanelets.
   constexpr double MARGIN = 10.0;
@@ -315,6 +316,7 @@ void AvoidanceModule::fillAvoidanceTargetObjects(
 
   // Filter out the objects to determine the ones to be avoided.
   filterTargetObjects(objects, data, forward_detection_range, planner_data_, parameters_);
+  updateRoadShoulderDistance(data, planner_data_, parameters_);
 
   // Calculate the distance needed to safely decelerate the ego vehicle to a stop line.
   const auto & vehicle_width = planner_data_->parameters.vehicle_width;
@@ -929,10 +931,6 @@ BehaviorModuleOutput AvoidanceModule::plan()
     DrivableAreaInfo current_drivable_area_info;
     // generate drivable lanes
     current_drivable_area_info.drivable_lanes = avoid_data_.drivable_lanes;
-    // generate obstacle polygons
-    current_drivable_area_info.obstacles =
-      utils::avoidance::generateObstaclePolygonsForDrivableArea(
-        avoid_data_.target_objects, parameters_, planner_data_->parameters.vehicle_width / 2.0);
     // expand hatched road markings
     current_drivable_area_info.enable_expanding_hatched_road_markings =
       parameters_->use_hatched_road_markings;
@@ -941,6 +939,21 @@ BehaviorModuleOutput AvoidanceModule::plan()
       parameters_->use_intersection_areas;
     // expand freespace areas
     current_drivable_area_info.enable_expanding_freespace_areas = parameters_->use_freespace_areas;
+    // generate obstacle polygons
+    if (parameters_->enable_bound_clipping) {
+      ObjectDataArray clip_objects;
+      // If avoidance is executed by both behavior and motion, only non-avoidable object will be
+      // extracted from the drivable area.
+      std::for_each(
+        data.target_objects.begin(), data.target_objects.end(), [&](const auto & object) {
+          if (!object.is_avoidable) clip_objects.push_back(object);
+        });
+      current_drivable_area_info.obstacles =
+        utils::avoidance::generateObstaclePolygonsForDrivableArea(
+          clip_objects, parameters_, planner_data_->parameters.vehicle_width / 2.0);
+    } else {
+      current_drivable_area_info.obstacles.clear();
+    }
 
     output.drivable_area_info = utils::combineDrivableAreaInfo(
       current_drivable_area_info, getPreviousModuleOutput().drivable_area_info);
@@ -1150,8 +1163,8 @@ bool AvoidanceModule::isValidShiftLine(
     const size_t end_idx = shift_lines.back().end_idx;
 
     const auto path = shifter_for_validate.getReferencePath();
-    const auto left_bound = lanelet::utils::to2D(avoid_data_.left_bound);
-    const auto right_bound = lanelet::utils::to2D(avoid_data_.right_bound);
+    const auto left_bound = lanelet::utils::to2D(toLineString3d(avoid_data_.left_bound));
+    const auto right_bound = lanelet::utils::to2D(toLineString3d(avoid_data_.right_bound));
     for (size_t i = start_idx; i <= end_idx; ++i) {
       const auto p = getPoint(path.points.at(i));
       lanelet::BasicPoint2d basic_point{p.x, p.y};

planning/behavior_path_avoidance_module/src/utils.cpp

@@ -16,6 +16,7 @@
 
 #include "behavior_path_avoidance_module/data_structs.hpp"
 #include "behavior_path_avoidance_module/utils.hpp"
+#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
 #include "behavior_path_planner_common/utils/traffic_light_utils.hpp"
@@ -893,13 +894,8 @@ double getRoadShoulderDistance(
 
   std::vector<Point> intersects;
   for (size_t i = 1; i < bound.size(); i++) {
-    const auto p1_bound =
-      geometry_msgs::build<Point>().x(bound[i - 1].x()).y(bound[i - 1].y()).z(bound[i - 1].z());
-    const auto p2_bound =
-      geometry_msgs::build<Point>().x(bound[i].x()).y(bound[i].y()).z(bound[i].z());
-
     const auto opt_intersect =
-      tier4_autoware_utils::intersect(p1_object, p2_object, p1_bound, p2_bound);
+      tier4_autoware_utils::intersect(p1_object, p2_object, bound.at(i - 1), bound.at(i));
 
     if (!opt_intersect) {
       continue;
@@ -1184,24 +1180,21 @@ std::vector<DrivableAreaInfo::Obstacle> generateObstaclePolygonsForDrivableArea(
 {
   std::vector<DrivableAreaInfo::Obstacle> obstacles_for_drivable_area;
 
-  if (objects.empty() || !parameters->enable_bound_clipping) {
+  if (objects.empty()) {
     return obstacles_for_drivable_area;
   }
 
   for (const auto & object : objects) {
-    // If avoidance is executed by both behavior and motion, only non-avoidable object will be
-    // extracted from the drivable area.
-    if (!parameters->disable_path_update) {
-      if (object.is_avoidable) {
-        continue;
-      }
-    }
-
     // check if avoid marin is calculated
     if (!object.avoid_margin.has_value()) {
       continue;
     }
 
+    // check original polygon
+    if (object.envelope_poly.outer().empty()) {
+      continue;
+    }
+
     const auto object_type = utils::getHighestProbLabel(object.object.classification);
     const auto object_parameter = parameters->object_parameters.at(object_type);
 
@@ -1615,6 +1608,38 @@ void compensateDetectionLost(
   }
 }
 
+void updateRoadShoulderDistance(
+  AvoidancePlanningData & data, const std::shared_ptr<const PlannerData> & planner_data,
+  const std::shared_ptr<AvoidanceParameters> & parameters)
+{
+  ObjectDataArray clip_objects;
+  std::for_each(data.other_objects.begin(), data.other_objects.end(), [&](const auto & object) {
+    if (object.reason != AvoidanceDebugFactor::MOVING_OBJECT) clip_objects.push_back(object);
+  });
+  for (auto & o : clip_objects) {
+    const auto & vehicle_width = planner_data->parameters.vehicle_width;
+    const auto object_type = utils::getHighestProbLabel(o.object.classification);
+    const auto object_parameter = parameters->object_parameters.at(object_type);
+
+    o.avoid_margin = object_parameter.safety_buffer_lateral + 0.5 * vehicle_width;
+  }
+  const auto extract_obstacles = generateObstaclePolygonsForDrivableArea(
+    clip_objects, parameters, planner_data->parameters.vehicle_width / 2.0);
+
+  auto tmp_path = data.reference_path;
+  tmp_path.left_bound = data.left_bound;
+  tmp_path.right_bound = data.right_bound;
+  utils::extractObstaclesFromDrivableArea(tmp_path, extract_obstacles);
+
+  data.left_bound = tmp_path.left_bound;
+  data.right_bound = tmp_path.right_bound;
+
+  for (auto & o : data.target_objects) {
+    o.to_road_shoulder_distance = filtering_utils::getRoadShoulderDistance(o, data, planner_data);
+    o.avoid_margin = filtering_utils::getAvoidMargin(o, planner_data, parameters);
+  }
+}
+
 void filterTargetObjects(
   ObjectDataArray & objects, AvoidancePlanningData & data, const double forward_detection_range,
   const std::shared_ptr<const PlannerData> & planner_data,