fix(bpp): overwrite turn signal by latter module (autowarefoundation#…

…7045) * fix(bpp): overwrite turn signal by latter module Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): return previous module turn signal if it's in success state Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): don't output turn signal if there is huge lateral deveation Signed-off-by: satoshi-ota <[email protected]> * refactor: small update Signed-off-by: satoshi-ota <[email protected]> * chore: use lower case Signed-off-by: satoshi-ota <[email protected]> * refactor: remove redundant function call Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
tier4 · Jun 5, 2024 · f1dae5e · f1dae5e
1 parent 65329cf
commit f1dae5e
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Showing 2 changed files with 63 additions and 8 deletions.
diff --git a/...behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp b/...behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp
@@ -64,6 +64,17 @@ struct TurnSignalInfo
     hazard_signal.command = HazardLightsCommand::NO_COMMAND;
   }
 
+  TurnSignalInfo(const Pose & start, const Pose & end)
+  {
+    turn_signal.command = TurnIndicatorsCommand::NO_COMMAND;
+    hazard_signal.command = HazardLightsCommand::NO_COMMAND;
+
+    desired_start_point = start;
+    desired_end_point = end;
+    required_start_point = start;
+    required_end_point = end;
+  }
+
   // desired turn signal
   TurnIndicatorsCommand turn_signal;
   HazardLightsCommand hazard_signal;
@@ -93,6 +104,11 @@ class TurnSignalDecider
     const TurnSignalInfo & intersection_signal_info, const TurnSignalInfo & behavior_signal_info,
     const double nearest_dist_threshold, const double nearest_yaw_threshold);
 
+  TurnSignalInfo overwrite_turn_signal(
+    const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
+    const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,
+    const double nearest_dist_threshold, const double nearest_yaw_threshold) const;
+
   TurnSignalInfo use_prior_turn_signal(
     const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
     const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,

diff --git a/planning/behavior_path_planner_common/src/turn_signal_decider.cpp b/planning/behavior_path_planner_common/src/turn_signal_decider.cpp
@@ -392,6 +392,40 @@ TurnIndicatorsCommand TurnSignalDecider::resolve_turn_signal(
   return intersection_signal_info.turn_signal;
 }
 
+TurnSignalInfo TurnSignalDecider::overwrite_turn_signal(
+  const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
+  const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,
+  const double nearest_dist_threshold, const double nearest_yaw_threshold) const
+{
+  if (original_signal.turn_signal.command == TurnIndicatorsCommand::NO_COMMAND) {
+    return new_signal;
+  }
+
+  if (original_signal.turn_signal.command == TurnIndicatorsCommand::DISABLE) {
+    return new_signal;
+  }
+
+  const auto get_distance = [&](const Pose & input_point) {
+    const size_t nearest_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
+      path.points, input_point, nearest_dist_threshold, nearest_yaw_threshold);
+    return motion_utils::calcSignedArcLength(
+             path.points, current_pose.position, current_seg_idx, input_point.position,
+             nearest_seg_idx) -
+           base_link2front_;
+  };
+
+  const auto & original_desired_end_point = original_signal.desired_end_point;
+  const auto & new_desired_start_point = new_signal.desired_start_point;
+
+  const double dist_to_original_desired_end = get_distance(original_desired_end_point);
+  const double dist_to_new_desired_start = get_distance(new_desired_start_point);
+  if (dist_to_new_desired_start > dist_to_original_desired_end) {
+    return original_signal;
+  }
+
+  return new_signal;
+}
+
 TurnSignalInfo TurnSignalDecider::use_prior_turn_signal(
   const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx,
   const TurnSignalInfo & original_signal, const TurnSignalInfo & new_signal,
@@ -615,6 +649,8 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
   const double current_shift_length, const bool is_driving_forward, const bool egos_lane_is_shifted,
   const bool override_ego_stopped_check, const bool is_pull_out) const
 {
+  using tier4_autoware_utils::getPose;
+
   const auto & p = parameters;
   const auto & rh = route_handler;
   const auto & ego_pose = self_odometry->pose.pose;
@@ -667,16 +703,19 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
 
   const auto relative_shift_length = end_shift_length - start_shift_length;
 
+  const auto p_path_start = getPose(path.path.points.front());
+  const auto p_path_end = getPose(path.path.points.back());
+
   // If shift length is shorter than the threshold, it does not need to turn on blinkers
   if (std::fabs(relative_shift_length) < p.turn_signal_shift_length_threshold) {
-    return std::make_pair(TurnSignalInfo{}, true);
+    return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
   }
 
   // If the vehicle does not shift anymore, we turn off the blinker
   if (
     std::fabs(end_shift_length - current_shift_length) <
     p.turn_signal_remaining_shift_length_threshold) {
-    return std::make_pair(TurnSignalInfo{}, true);
+    return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
   }
 
   const auto get_command = [](const auto & shift_length) {
@@ -691,7 +730,7 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
     p.vehicle_info.max_longitudinal_offset_m;
 
   if (signal_prepare_distance < ego_front_to_shift_start) {
-    return std::make_pair(TurnSignalInfo{}, false);
+    return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), false);
   }
 
   const auto blinker_start_pose = path.path.points.at(shift_line.start_idx).point.pose;
@@ -708,13 +747,13 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
   turn_signal_info.turn_signal.command = get_command(relative_shift_length);
 
   if (!p.turn_signal_on_swerving) {
-    return std::make_pair(turn_signal_info, false);
+    return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), false);
   }
 
   lanelet::ConstLanelet lanelet;
   const auto query_pose = (egos_lane_is_shifted) ? shift_line.end : shift_line.start;
   if (!rh->getClosestLaneletWithinRoute(query_pose, &lanelet)) {
-    return std::make_pair(TurnSignalInfo{}, true);
+    return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
   }
 
   const auto left_same_direction_lane = rh->getLeftLanelet(lanelet, true, true);
@@ -729,13 +768,13 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
     !is_pull_out && !existShiftSideLane(
                       start_shift_length, end_shift_length, !has_left_lane, !has_right_lane,
                       p.turn_signal_shift_length_threshold)) {
-    return std::make_pair(TurnSignalInfo{}, true);
+    return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
   }
 
   // Check if the ego will cross lane bounds.
   // Note that pull out requires blinkers, even if the ego does not cross lane bounds
   if (!is_pull_out && !straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) {
-    return std::make_pair(TurnSignalInfo{}, true);
+    return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
   }
 
   // If the ego has stopped and its close to completing its shift, turn off the blinkers
@@ -744,7 +783,7 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
     if (isNearEndOfShift(
           start_shift_length, end_shift_length, ego_pose.position, current_lanelets,
           p.turn_signal_shift_length_threshold)) {
-      return std::make_pair(TurnSignalInfo{}, true);
+      return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
     }
   }