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Merge pull request #866 from tier4/fix/out-of-lane-beta-v0.11.0
fix(out_of_lane): improve stop decision
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84 changes: 84 additions & 0 deletions
84
planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // 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. | ||
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| #ifndef CALCULATE_SLOWDOWN_POINTS_HPP_ | ||
| #define CALCULATE_SLOWDOWN_POINTS_HPP_ | ||
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| #include "footprint.hpp" | ||
| #include "types.hpp" | ||
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| #include <motion_utils/trajectory/trajectory.hpp> | ||
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| #include <optional> | ||
| #include <vector> | ||
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| namespace behavior_velocity_planner::out_of_lane | ||
| { | ||
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| bool can_decelerate( | ||
| const EgoData & ego_data, const PathPointWithLaneId & point, const double target_vel) | ||
| { | ||
| if (ego_data.velocity < 0.5) return true; | ||
| const auto dist_ahead_of_ego = motion_utils::calcSignedArcLength( | ||
| ego_data.path.points, ego_data.pose.position, point.point.pose.position); | ||
| const auto acc_to_target_vel = | ||
| (ego_data.velocity * ego_data.velocity - target_vel * target_vel) / (2 * dist_ahead_of_ego); | ||
| return acc_to_target_vel < std::abs(ego_data.max_decel); | ||
| } | ||
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| std::optional<PathPointWithLaneId> calculate_last_in_lane_pose( | ||
| const EgoData & ego_data, const Slowdown & decision, const Polygon2d & footprint, | ||
| const PlannerParam & params) | ||
| { | ||
| const auto from_arc_length = | ||
| motion_utils::calcSignedArcLength(ego_data.path.points, 0, ego_data.first_path_idx); | ||
| const auto to_arc_length = | ||
| motion_utils::calcSignedArcLength(ego_data.path.points, 0, decision.target_path_idx); | ||
| PathPointWithLaneId interpolated_point; | ||
| for (auto l = to_arc_length - params.precision; l > from_arc_length; l -= params.precision) { | ||
| // TODO(Maxime): binary search | ||
| interpolated_point.point.pose = motion_utils::calcInterpolatedPose(ego_data.path.points, l); | ||
| const auto respect_decel_limit = | ||
| !params.skip_if_over_max_decel || | ||
| can_decelerate(ego_data, interpolated_point, decision.velocity); | ||
| if ( | ||
| respect_decel_limit && !boost::geometry::overlaps( | ||
| project_to_pose(footprint, interpolated_point.point.pose), | ||
| decision.lane_to_avoid.polygon2d().basicPolygon())) | ||
| return interpolated_point; | ||
| } | ||
| return std::nullopt; | ||
| } | ||
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| /// @brief calculate the slowdown point to insert in the path | ||
| /// @param ego_data ego data (path, velocity, etc) | ||
| /// @param decisions decision (before which point to stop, what lane to avoid entering, etc) | ||
| /// @param params parameters | ||
| /// @return optional slowdown point to insert in the path | ||
| std::optional<SlowdownToInsert> calculate_slowdown_point( | ||
| const EgoData & ego_data, const std::vector<Slowdown> & decisions, PlannerParam params) | ||
| { | ||
| params.extra_front_offset += params.dist_buffer; | ||
| const auto base_footprint = make_base_footprint(params); | ||
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| // search for the first slowdown decision for which a stop point can be inserted | ||
| for (const auto & decision : decisions) { | ||
| const auto last_in_lane_pose = | ||
| calculate_last_in_lane_pose(ego_data, decision, base_footprint, params); | ||
| if (last_in_lane_pose) return SlowdownToInsert{decision, *last_in_lane_pose}; | ||
| } | ||
| return std::nullopt; | ||
| } | ||
| } // namespace behavior_velocity_planner::out_of_lane | ||
| #endif // CALCULATE_SLOWDOWN_POINTS_HPP_ |
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68 changes: 68 additions & 0 deletions
68
planning/behavior_velocity_out_of_lane_module/src/filter_predicted_objects.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,68 @@ | ||
| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // 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. | ||
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| #ifndef FILTER_PREDICTED_OBJECTS_HPP_ | ||
| #define FILTER_PREDICTED_OBJECTS_HPP_ | ||
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| #include "types.hpp" | ||
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| #include <string> | ||
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| namespace behavior_velocity_planner::out_of_lane | ||
| { | ||
| /// @brief filter predicted objects and their predicted paths | ||
| /// @param [in] objects predicted objects to filter | ||
| /// @param [in] ego_data ego data | ||
| /// @param [in] params parameters | ||
| /// @return filtered predicted objects | ||
| autoware_auto_perception_msgs::msg::PredictedObjects filter_predicted_objects( | ||
| const autoware_auto_perception_msgs::msg::PredictedObjects & objects, const EgoData & ego_data, | ||
| const PlannerParam & params) | ||
| { | ||
| autoware_auto_perception_msgs::msg::PredictedObjects filtered_objects; | ||
| filtered_objects.header = objects.header; | ||
| for (const auto & object : objects.objects) { | ||
| const auto is_pedestrian = | ||
| std::find_if(object.classification.begin(), object.classification.end(), [](const auto & c) { | ||
| return c.label == autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN; | ||
| }) != object.classification.end(); | ||
| if (is_pedestrian) continue; | ||
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| auto filtered_object = object; | ||
| const auto is_invalid_predicted_path = [&](const auto & predicted_path) { | ||
| const auto is_low_confidence = predicted_path.confidence < params.objects_min_confidence; | ||
| const auto lat_offset_to_current_ego = | ||
| std::abs(motion_utils::calcLateralOffset(predicted_path.path, ego_data.pose.position)); | ||
| const auto is_crossing_ego = | ||
| lat_offset_to_current_ego <= | ||
| object.shape.dimensions.y / 2.0 + std::max( | ||
| params.left_offset + params.extra_left_offset, | ||
| params.right_offset + params.extra_right_offset); | ||
| return is_low_confidence || is_crossing_ego; | ||
| }; | ||
| if (params.objects_use_predicted_paths) { | ||
| auto & predicted_paths = filtered_object.kinematics.predicted_paths; | ||
| const auto new_end = | ||
| std::remove_if(predicted_paths.begin(), predicted_paths.end(), is_invalid_predicted_path); | ||
| predicted_paths.erase(new_end, predicted_paths.end()); | ||
| } | ||
| if (!params.objects_use_predicted_paths || !filtered_object.kinematics.predicted_paths.empty()) | ||
| filtered_objects.objects.push_back(filtered_object); | ||
| } | ||
| return filtered_objects; | ||
| } | ||
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| } // namespace behavior_velocity_planner::out_of_lane | ||
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| #endif // FILTER_PREDICTED_OBJECTS_HPP_ |
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