geometry_msgs
interpolation
lanelet2_extension
- magic_enum
+ libopencv-dev
motion_utils
nav_msgs
pluginlib
@@ -39,8 +39,6 @@
vehicle_info_util
visualization_msgs
- grid_map_rviz_plugin
-
ament_lint_auto
autoware_lint_common
diff --git a/planning/behavior_velocity_intersection_module/src/debug.cpp b/planning/behavior_velocity_intersection_module/src/debug.cpp
index 7731d6490fb94..7a9ac651d8b97 100644
--- a/planning/behavior_velocity_intersection_module/src/debug.cpp
+++ b/planning/behavior_velocity_intersection_module/src/debug.cpp
@@ -262,29 +262,37 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
motion_utils::VirtualWalls IntersectionModule::createVirtualWalls()
{
- // TODO(Mamoru Sobue): collision stop pose depends on before/after occlusion clearance
motion_utils::VirtualWalls virtual_walls;
motion_utils::VirtualWall wall;
- wall.style = motion_utils::VirtualWallType::stop;
if (debug_data_.collision_stop_wall_pose) {
+ wall.style = motion_utils::VirtualWallType::stop;
wall.text = "intersection";
wall.ns = "intersection" + std::to_string(module_id_) + "_";
wall.pose = debug_data_.collision_stop_wall_pose.value();
virtual_walls.push_back(wall);
}
if (debug_data_.occlusion_first_stop_wall_pose) {
+ wall.style = motion_utils::VirtualWallType::stop;
wall.text = "intersection";
wall.ns = "intersection_occlusion_first_stop" + std::to_string(module_id_) + "_";
wall.pose = debug_data_.occlusion_first_stop_wall_pose.value();
virtual_walls.push_back(wall);
}
if (debug_data_.occlusion_stop_wall_pose) {
+ wall.style = motion_utils::VirtualWallType::stop;
wall.text = "intersection_occlusion";
wall.ns = "intersection_occlusion" + std::to_string(module_id_) + "_";
wall.pose = debug_data_.occlusion_stop_wall_pose.value();
virtual_walls.push_back(wall);
}
+ if (debug_data_.absence_traffic_light_creep_wall) {
+ wall.style = motion_utils::VirtualWallType::slowdown;
+ wall.text = "intersection_occlusion";
+ wall.ns = "intersection_occlusion" + std::to_string(module_id_) + "_";
+ wall.pose = debug_data_.absence_traffic_light_creep_wall.value();
+ virtual_walls.push_back(wall);
+ }
return virtual_walls;
}
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
index e02a1e4220030..d42c9b3ca2aa2 100644
--- a/planning/behavior_velocity_intersection_module/src/manager.cpp
+++ b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -136,6 +136,10 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
getOrDeclareParameter(node, ns + ".occlusion.stop_release_margin_time");
ip.occlusion.temporal_stop_before_attention_area =
getOrDeclareParameter(node, ns + ".occlusion.temporal_stop_before_attention_area");
+ ip.occlusion.absence_traffic_light.creep_velocity =
+ getOrDeclareParameter(node, ns + ".occlusion.absence_traffic_light.creep_velocity");
+ ip.occlusion.absence_traffic_light.maximum_peeking_distance = getOrDeclareParameter(
+ node, ns + ".occlusion.absence_traffic_light.maximum_peeking_distance");
}
void IntersectionModuleManager::launchNewModules(
@@ -165,13 +169,21 @@ void IntersectionModuleManager::launchNewModules(
continue;
}
- const auto associative_ids =
- planning_utils::getAssociativeIntersectionLanelets(ll, lanelet_map, routing_graph);
const std::string location = ll.attributeOr("location", "else");
const bool is_private_area = (location.compare("private") == 0);
+ const auto associative_ids =
+ planning_utils::getAssociativeIntersectionLanelets(ll, lanelet_map, routing_graph);
+ bool has_traffic_light = false;
+ if (const auto tl_reg_elems = ll.regulatoryElementsAs();
+ tl_reg_elems.size() != 0) {
+ const auto tl_reg_elem = tl_reg_elems.front();
+ const auto stop_line_opt = tl_reg_elem->stopLine();
+ if (!!stop_line_opt) has_traffic_light = true;
+ }
const auto new_module = std::make_shared(
- module_id, lane_id, planner_data_, intersection_param_, associative_ids, is_private_area,
- enable_occlusion_detection, node_, logger_.get_child("intersection_module"), clock_);
+ module_id, lane_id, planner_data_, intersection_param_, associative_ids, turn_direction,
+ has_traffic_light, enable_occlusion_detection, is_private_area, node_,
+ logger_.get_child("intersection_module"), clock_);
generateUUID(module_id);
/* set RTC status as non_occluded status initially */
const UUID uuid = getUUID(new_module->getModuleId());
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index 89bb65f403095..89cdeaae56723 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -17,7 +17,6 @@
#include "util.hpp"
#include
-#include
#include
#include
#include
@@ -65,14 +64,18 @@ static bool isTargetCollisionVehicleType(
}
IntersectionModule::IntersectionModule(
- const int64_t module_id, const int64_t lane_id, std::shared_ptr planner_data,
+ const int64_t module_id, const int64_t lane_id,
+ [[maybe_unused]] std::shared_ptr planner_data,
const PlannerParam & planner_param, const std::set & associative_ids,
- const bool is_private_area, const bool enable_occlusion_detection, rclcpp::Node & node,
+ const std::string & turn_direction, const bool has_traffic_light,
+ const bool enable_occlusion_detection, const bool is_private_area, rclcpp::Node & node,
const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock)
: SceneModuleInterface(module_id, logger, clock),
node_(node),
lane_id_(lane_id),
associative_ids_(associative_ids),
+ turn_direction_(turn_direction),
+ has_traffic_light_(has_traffic_light),
enable_occlusion_detection_(enable_occlusion_detection),
occlusion_attention_divisions_(std::nullopt),
is_private_area_(is_private_area),
@@ -81,11 +84,10 @@ IntersectionModule::IntersectionModule(
velocity_factor_.init(VelocityFactor::INTERSECTION);
planner_param_ = planner_param;
- const auto & assigned_lanelet =
- planner_data->route_handler_->getLaneletMapPtr()->laneletLayer.get(lane_id);
- turn_direction_ = assigned_lanelet.attributeOr("turn_direction", "else");
- collision_state_machine_.setMarginTime(
- planner_param_.collision_detection.state_transit_margin_time);
+ {
+ collision_state_machine_.setMarginTime(
+ planner_param_.collision_detection.state_transit_margin_time);
+ }
{
before_creep_state_machine_.setMarginTime(planner_param_.occlusion.before_creep_stop_time);
before_creep_state_machine_.setState(StateMachine::State::STOP);
@@ -226,6 +228,23 @@ void prepareRTCByDecisionResult(
return;
}
+template <>
+void prepareRTCByDecisionResult(
+ const IntersectionModule::OccludedAbsenceTrafficLight & result,
+ const autoware_auto_planning_msgs::msg::PathWithLaneId & path, bool * default_safety,
+ double * default_distance, bool * occlusion_safety, double * occlusion_distance)
+{
+ RCLCPP_DEBUG(rclcpp::get_logger("prepareRTCByDecisionResult"), "OccludedAbsenceTrafficLight");
+ const auto closest_idx = result.closest_idx;
+ const auto collision_stop_line_idx = result.closest_idx;
+ *default_safety = !result.collision_detected;
+ *default_distance =
+ motion_utils::calcSignedArcLength(path.points, closest_idx, collision_stop_line_idx);
+ *occlusion_safety = result.is_actually_occlusion_cleared;
+ *occlusion_distance = 0;
+ return;
+}
+
template <>
void prepareRTCByDecisionResult(
const IntersectionModule::OccludedCollisionStop & result,
@@ -570,6 +589,59 @@ void reactRTCApprovalByDecisionResult(
return;
}
+template <>
+void reactRTCApprovalByDecisionResult(
+ const bool rtc_default_approved, const bool rtc_occlusion_approved,
+ const IntersectionModule::OccludedAbsenceTrafficLight & decision_result,
+ [[maybe_unused]] const IntersectionModule::PlannerParam & planner_param,
+ const double baselink2front, autoware_auto_planning_msgs::msg::PathWithLaneId * path,
+ StopReason * stop_reason, VelocityFactorInterface * velocity_factor, util::DebugData * debug_data)
+{
+ RCLCPP_DEBUG(
+ rclcpp::get_logger("reactRTCApprovalByDecisionResult"),
+ "OccludedAbsenceTrafficLight, approval = (default: %d, occlusion: %d)", rtc_default_approved,
+ rtc_occlusion_approved);
+ if (!rtc_default_approved) {
+ const auto stop_line_idx = decision_result.closest_idx;
+ planning_utils::setVelocityFromIndex(stop_line_idx, 0.0, path);
+ debug_data->collision_stop_wall_pose =
+ planning_utils::getAheadPose(stop_line_idx, baselink2front, *path);
+ {
+ tier4_planning_msgs::msg::StopFactor stop_factor;
+ stop_factor.stop_pose = path->points.at(stop_line_idx).point.pose;
+ planning_utils::appendStopReason(stop_factor, stop_reason);
+ velocity_factor->set(
+ path->points, path->points.at(decision_result.closest_idx).point.pose,
+ path->points.at(stop_line_idx).point.pose, VelocityFactor::INTERSECTION);
+ }
+ }
+ if (!rtc_occlusion_approved && decision_result.temporal_stop_before_attention_required) {
+ const auto stop_line_idx = decision_result.first_attention_area_stop_line_idx;
+ planning_utils::setVelocityFromIndex(stop_line_idx, 0.0, path);
+ debug_data->occlusion_stop_wall_pose =
+ planning_utils::getAheadPose(stop_line_idx, baselink2front, *path);
+ {
+ tier4_planning_msgs::msg::StopFactor stop_factor;
+ stop_factor.stop_pose = path->points.at(stop_line_idx).point.pose;
+ planning_utils::appendStopReason(stop_factor, stop_reason);
+ velocity_factor->set(
+ path->points, path->points.at(decision_result.closest_idx).point.pose,
+ path->points.at(stop_line_idx).point.pose, VelocityFactor::INTERSECTION);
+ }
+ }
+ if (!rtc_occlusion_approved && !decision_result.temporal_stop_before_attention_required) {
+ const auto closest_idx = decision_result.closest_idx;
+ const auto peeking_limit_line = decision_result.peeking_limit_line_idx;
+ for (auto i = closest_idx; i <= peeking_limit_line; ++i) {
+ planning_utils::setVelocityFromIndex(
+ i, planner_param.occlusion.absence_traffic_light.creep_velocity, path);
+ }
+ debug_data->absence_traffic_light_creep_wall =
+ planning_utils::getAheadPose(closest_idx, baselink2front, *path);
+ }
+ return;
+}
+
template <>
void reactRTCApprovalByDecisionResult(
const bool rtc_default_approved, const bool rtc_occlusion_approved,
@@ -675,7 +747,8 @@ void reactRTCApproval(
static std::string formatDecisionResult(const IntersectionModule::DecisionResult & decision_result)
{
if (std::holds_alternative(decision_result)) {
- return "Indecisive";
+ const auto indecisive = std::get(decision_result);
+ return "Indecisive because " + indecisive.error;
}
if (std::holds_alternative(decision_result)) {
return "Safe";
@@ -695,6 +768,9 @@ static std::string formatDecisionResult(const IntersectionModule::DecisionResult
if (std::holds_alternative(decision_result)) {
return "OccludedCollisionStop";
}
+ if (std::holds_alternative(decision_result)) {
+ return "OccludedAbsenceTrafficLight";
+ }
if (std::holds_alternative(decision_result)) {
return "TrafficLightArrowSolidOn";
}
@@ -747,15 +823,15 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
const auto interpolated_path_info_opt = util::generateInterpolatedPath(
lane_id_, associative_ids_, *path, planner_param_.common.path_interpolation_ds, logger_);
if (!interpolated_path_info_opt) {
- RCLCPP_DEBUG(logger_, "splineInterpolate failed");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"splineInterpolate failed"};
}
const auto & interpolated_path_info = interpolated_path_info_opt.value();
if (!interpolated_path_info.lane_id_interval) {
- RCLCPP_WARN(logger_, "Path has no interval on intersection lane %ld", lane_id_);
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{
+ "Path has no interval on intersection lane " + std::to_string(lane_id_)};
}
+ // cache intersection lane information because it is invariant
const auto & current_pose = planner_data_->current_odometry->pose;
const auto lanelets_on_path =
planning_utils::getLaneletsOnPath(*path, lanelet_map_ptr, current_pose);
@@ -766,30 +842,40 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
planner_param_.occlusion.occlusion_attention_area_length,
planner_param_.common.consider_wrong_direction_vehicle);
}
+ auto & intersection_lanelets = intersection_lanelets_.value();
+
+ // at the very first time of registration of this module, the path may not be conflicting with the
+ // attention area, so update() is called to update the internal data as well as traffic light info
const auto traffic_prioritized_level =
util::getTrafficPrioritizedLevel(assigned_lanelet, planner_data_->traffic_light_id_map);
const bool is_prioritized =
traffic_prioritized_level == util::TrafficPrioritizedLevel::FULLY_PRIORITIZED;
- intersection_lanelets_.value().update(is_prioritized, interpolated_path_info);
+ intersection_lanelets.update(is_prioritized, interpolated_path_info);
- const auto & conflicting_lanelets = intersection_lanelets_.value().conflicting();
- const auto & first_conflicting_area_opt = intersection_lanelets_.value().first_conflicting_area();
+ // this is abnormal
+ const auto & conflicting_lanelets = intersection_lanelets.conflicting();
+ const auto & first_conflicting_area_opt = intersection_lanelets.first_conflicting_area();
if (conflicting_lanelets.empty() || !first_conflicting_area_opt) {
- RCLCPP_DEBUG(logger_, "conflicting area is empty");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"conflicting area is empty"};
}
const auto first_conflicting_area = first_conflicting_area_opt.value();
- const auto & first_attention_area_opt = intersection_lanelets_.value().first_attention_area();
+ // generate all stop line candidates
+ // see the doc for struct IntersectionStopLines
+ const auto & first_attention_area_opt = intersection_lanelets.first_attention_area();
+ /// even if the attention area is null, stuck vehicle stop line needs to be generated from
+ /// conflicting lanes
const auto & dummy_first_attention_area =
first_attention_area_opt ? first_attention_area_opt.value() : first_conflicting_area;
+ const double peeking_offset =
+ has_traffic_light_ ? planner_param_.occlusion.peeking_offset
+ : planner_param_.occlusion.absence_traffic_light.maximum_peeking_distance;
const auto intersection_stop_lines_opt = util::generateIntersectionStopLines(
first_conflicting_area, dummy_first_attention_area, planner_data_, interpolated_path_info,
planner_param_.stuck_vehicle.use_stuck_stopline, planner_param_.common.stop_line_margin,
- planner_param_.occlusion.peeking_offset, path);
+ peeking_offset, path);
if (!intersection_stop_lines_opt) {
- RCLCPP_DEBUG(logger_, "failed to generate intersection_stop_lines");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"failed to generate intersection_stop_lines"};
}
const auto & intersection_stop_lines = intersection_stop_lines_opt.value();
const auto
@@ -797,38 +883,49 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
first_attention_stop_line_idx_opt, occlusion_peeking_stop_line_idx_opt, pass_judge_line_idx] =
intersection_stop_lines;
- const auto & conflicting_area = intersection_lanelets_.value().conflicting_area();
+ // see the doc for struct PathLanelets
+ const auto & conflicting_area = intersection_lanelets.conflicting_area();
const auto path_lanelets_opt = util::generatePathLanelets(
lanelets_on_path, interpolated_path_info, associative_ids_, first_conflicting_area,
- conflicting_area, first_attention_area_opt, intersection_lanelets_.value().attention_area(),
- closest_idx, planner_data_->vehicle_info_.vehicle_width_m);
+ conflicting_area, first_attention_area_opt, intersection_lanelets.attention_area(), closest_idx,
+ planner_data_->vehicle_info_.vehicle_width_m);
if (!path_lanelets_opt.has_value()) {
- RCLCPP_DEBUG(logger_, "failed to generate PathLanelets");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"failed to generate PathLanelets"};
}
const auto path_lanelets = path_lanelets_opt.value();
- const bool stuck_detected = checkStuckVehicle(planner_data_, path_lanelets);
+ // utility functions
+ auto fromEgoDist = [&](const size_t index) {
+ return motion_utils::calcSignedArcLength(path->points, closest_idx, index);
+ };
+ auto stoppedForDuration =
+ [&](const size_t pos, const double duration, StateMachine & state_machine) {
+ const double dist_stopline = fromEgoDist(pos);
+ const bool approached_dist_stopline =
+ (std::fabs(dist_stopline) < planner_param_.common.stop_overshoot_margin);
+ const bool over_stopline = (dist_stopline < 0.0);
+ const bool is_stopped_duration = planner_data_->isVehicleStopped(duration);
+ if (over_stopline) {
+ state_machine.setState(StateMachine::State::GO);
+ } else if (is_stopped_duration && approached_dist_stopline) {
+ state_machine.setState(StateMachine::State::GO);
+ }
+ return state_machine.getState() == StateMachine::State::GO;
+ };
+ // stuck vehicle detection is viable even if attention area is empty
+ // so this needs to be checked before attention area validation
+ const bool stuck_detected = checkStuckVehicle(planner_data_, path_lanelets);
if (stuck_detected && stuck_stop_line_idx_opt) {
auto stuck_stop_line_idx = stuck_stop_line_idx_opt.value();
- const double dist_stopline = motion_utils::calcSignedArcLength(
- path->points, path->points.at(closest_idx).point.pose.position,
- path->points.at(stuck_stop_line_idx).point.pose.position);
- const bool approached_stop_line =
- (std::fabs(dist_stopline) < planner_param_.common.stop_overshoot_margin);
- const bool is_stopped = planner_data_->isVehicleStopped();
- if (is_stopped && approached_stop_line) {
- stuck_private_area_timeout_.setStateWithMarginTime(
- StateMachine::State::GO, logger_.get_child("stuck_private_area_timeout"), *clock_);
- }
- const bool timeout =
- (is_private_area_ && stuck_private_area_timeout_.getState() == StateMachine::State::GO);
+ const bool stopped_at_stuck_line = stoppedForDuration(
+ stuck_stop_line_idx, planner_param_.stuck_vehicle.timeout_private_area,
+ stuck_private_area_timeout_);
+ const bool timeout = (is_private_area_ && stopped_at_stuck_line);
if (!timeout) {
if (
default_stop_line_idx_opt &&
- motion_utils::calcSignedArcLength(path->points, stuck_stop_line_idx, closest_idx) >
- planner_param_.common.stop_overshoot_margin) {
+ fromEgoDist(stuck_stop_line_idx) < -planner_param_.common.stop_overshoot_margin) {
stuck_stop_line_idx = default_stop_line_idx_opt.value();
}
return IntersectionModule::StuckStop{
@@ -836,15 +933,16 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
}
}
+ // if attention area is empty, collision/occlusion detection is impossible
if (!first_attention_area_opt) {
- RCLCPP_DEBUG(logger_, "attention area is empty");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"attention area is empty"};
}
const auto first_attention_area = first_attention_area_opt.value();
+ // if attention area is not null but default stop line is not available, ego/backward-path has
+ // already passed the stop line
if (!default_stop_line_idx_opt) {
- RCLCPP_DEBUG(logger_, "default stop line is null");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"default stop line is null"};
}
const auto default_stop_line_idx = default_stop_line_idx_opt.value();
@@ -873,25 +971,25 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
// is_go_out_: previous RTC approval
// activated_: current RTC approval
is_permanent_go_ = true;
- RCLCPP_DEBUG(logger_, "over the pass judge line. no plan needed.");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"over the pass judge line. no plan needed"};
}
+ // occlusion stop line is generated from the intersection of ego footprint along the path with the
+ // attention area, so if this is null, eog has already passed the intersection
if (!first_attention_stop_line_idx_opt || !occlusion_peeking_stop_line_idx_opt) {
- RCLCPP_DEBUG(logger_, "occlusion stop line is null");
- return IntersectionModule::Indecisive{};
+ return IntersectionModule::Indecisive{"occlusion stop line is null"};
}
const auto collision_stop_line_idx =
is_over_default_stop_line ? closest_idx : default_stop_line_idx;
const auto first_attention_stop_line_idx = first_attention_stop_line_idx_opt.value();
const auto occlusion_stop_line_idx = occlusion_peeking_stop_line_idx_opt.value();
- const auto & attention_lanelets = intersection_lanelets_.value().attention();
- const auto & adjacent_lanelets = intersection_lanelets_.value().adjacent();
- const auto & occlusion_attention_lanelets = intersection_lanelets_.value().occlusion_attention();
- const auto & occlusion_attention_area = intersection_lanelets_.value().occlusion_attention_area();
- debug_data_.attention_area = intersection_lanelets_.value().attention_area();
- debug_data_.adjacent_area = intersection_lanelets_.value().adjacent_area();
+ const auto & attention_lanelets = intersection_lanelets.attention();
+ const auto & adjacent_lanelets = intersection_lanelets.adjacent();
+ const auto & occlusion_attention_lanelets = intersection_lanelets.occlusion_attention();
+ const auto & occlusion_attention_area = intersection_lanelets.occlusion_attention_area();
+ debug_data_.attention_area = intersection_lanelets.attention_area();
+ debug_data_.adjacent_area = intersection_lanelets.adjacent_area();
// get intersection area
const auto intersection_area = planner_param_.common.use_intersection_area
@@ -902,17 +1000,17 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
debug_data_.intersection_area = toGeomPoly(intersection_area_2d);
}
- // calculate dynamic collision around detection area
- const double time_delay = (is_go_out_ || is_prioritized)
- ? 0.0
- : (planner_param_.collision_detection.state_transit_margin_time -
- collision_state_machine_.getDuration());
+ // calculate dynamic collision around attention area
+ const double time_to_restart = (is_go_out_ || is_prioritized)
+ ? 0.0
+ : (planner_param_.collision_detection.state_transit_margin_time -
+ collision_state_machine_.getDuration());
const auto target_objects =
filterTargetObjects(attention_lanelets, adjacent_lanelets, intersection_area);
const bool has_collision = checkCollision(
*path, target_objects, path_lanelets, closest_idx,
- std::min(occlusion_stop_line_idx, path->points.size() - 1), time_delay,
+ std::min(occlusion_stop_line_idx, path->points.size() - 1), time_to_restart,
traffic_prioritized_level);
collision_state_machine_.setStateWithMarginTime(
has_collision ? StateMachine::State::STOP : StateMachine::State::GO,
@@ -959,74 +1057,63 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
const bool is_occlusion_cleared_with_margin =
(occlusion_stop_state_machine_.getState() == StateMachine::State::GO);
- // check safety
+ // distinguish if ego detected occlusion or RTC detects occlusion
const bool ext_occlusion_requested = (is_occlusion_cleared_with_margin && !occlusion_activated_);
- if (
- occlusion_stop_state_machine_.getState() == StateMachine::State::STOP ||
- ext_occlusion_requested) {
- const double dist_default_stopline = motion_utils::calcSignedArcLength(
- path->points, path->points.at(closest_idx).point.pose.position,
- path->points.at(default_stop_line_idx).point.pose.position);
- const bool approached_default_stop_line =
- (std::fabs(dist_default_stopline) < planner_param_.common.stop_overshoot_margin);
- const bool over_default_stop_line = (dist_default_stopline < 0.0);
- const bool is_stopped_at_default =
- planner_data_->isVehicleStopped(planner_param_.occlusion.before_creep_stop_time);
- if (over_default_stop_line) {
- before_creep_state_machine_.setState(StateMachine::State::GO);
- }
- if (before_creep_state_machine_.getState() == StateMachine::State::GO) {
- const double dist_first_attention_stopline = motion_utils::calcSignedArcLength(
- path->points, path->points.at(closest_idx).point.pose.position,
- path->points.at(first_attention_stop_line_idx).point.pose.position);
- const bool approached_first_attention_stop_line =
- (std::fabs(dist_first_attention_stopline) < planner_param_.common.stop_overshoot_margin);
- const bool over_first_attention_stop_line = (dist_first_attention_stopline < 0.0);
- const bool is_stopped_at_first_attention =
- planner_data_->isVehicleStopped(planner_param_.occlusion.before_creep_stop_time);
- if (planner_param_.occlusion.temporal_stop_before_attention_area) {
- if (over_first_attention_stop_line) {
- temporal_stop_before_attention_state_machine_.setState(StateMachine::State::GO);
- }
- if (is_stopped_at_first_attention && approached_first_attention_stop_line) {
- temporal_stop_before_attention_state_machine_.setState(StateMachine::State::GO);
- }
- }
- const bool temporal_stop_before_attention_required =
- planner_param_.occlusion.temporal_stop_before_attention_area &&
- temporal_stop_before_attention_state_machine_.getState() == StateMachine::State::STOP;
- if (has_collision_with_margin) {
- return IntersectionModule::OccludedCollisionStop{is_occlusion_cleared_with_margin,
- temporal_stop_before_attention_required,
- closest_idx,
- collision_stop_line_idx,
- first_attention_stop_line_idx,
- occlusion_stop_line_idx};
- } else {
- return IntersectionModule::PeekingTowardOcclusion{is_occlusion_cleared_with_margin,
- temporal_stop_before_attention_required,
- closest_idx,
- collision_stop_line_idx,
- first_attention_stop_line_idx,
- occlusion_stop_line_idx};
+ const bool is_occlusion_state = (!is_occlusion_cleared_with_margin || ext_occlusion_requested);
+ // Safe
+ if (!is_occlusion_state && !has_collision_with_margin) {
+ return IntersectionModule::Safe{closest_idx, collision_stop_line_idx, occlusion_stop_line_idx};
+ }
+ // Only collision
+ if (!is_occlusion_state && has_collision_with_margin) {
+ return IntersectionModule::NonOccludedCollisionStop{
+ closest_idx, collision_stop_line_idx, occlusion_stop_line_idx};
+ }
+ // Occluded
+ const bool stopped_at_default_line = stoppedForDuration(
+ default_stop_line_idx, planner_param_.occlusion.before_creep_stop_time,
+ before_creep_state_machine_);
+ if (stopped_at_default_line) {
+ // in this case ego will temporarily stop before entering attention area
+ const bool temporal_stop_before_attention_required =
+ (planner_param_.occlusion.temporal_stop_before_attention_area || !has_traffic_light_)
+ ? !stoppedForDuration(
+ first_attention_stop_line_idx, planner_param_.occlusion.before_creep_stop_time,
+ temporal_stop_before_attention_state_machine_)
+ : false;
+ if (!has_traffic_light_) {
+ if (fromEgoDist(first_attention_stop_line_idx) <= -peeking_offset) {
+ return IntersectionModule::Indecisive{
+ "already passed maximum peeking line in the absence of traffic light"};
}
+ return IntersectionModule::OccludedAbsenceTrafficLight{
+ is_occlusion_cleared_with_margin, has_collision_with_margin,
+ temporal_stop_before_attention_required, closest_idx,
+ first_attention_stop_line_idx, occlusion_stop_line_idx};
+ }
+ if (has_collision_with_margin) {
+ return IntersectionModule::OccludedCollisionStop{is_occlusion_cleared_with_margin,
+ temporal_stop_before_attention_required,
+ closest_idx,
+ collision_stop_line_idx,
+ first_attention_stop_line_idx,
+ occlusion_stop_line_idx};
} else {
- if (is_stopped_at_default && approached_default_stop_line) {
- // start waiting at the first stop line
- before_creep_state_machine_.setState(StateMachine::State::GO);
- }
- const auto occlusion_stop_line = planner_param_.occlusion.temporal_stop_before_attention_area
- ? first_attention_stop_line_idx
- : occlusion_stop_line_idx;
- return IntersectionModule::FirstWaitBeforeOcclusion{
- is_occlusion_cleared_with_margin, closest_idx, default_stop_line_idx, occlusion_stop_line};
+ return IntersectionModule::PeekingTowardOcclusion{is_occlusion_cleared_with_margin,
+ temporal_stop_before_attention_required,
+ closest_idx,
+ collision_stop_line_idx,
+ first_attention_stop_line_idx,
+ occlusion_stop_line_idx};
}
- } else if (has_collision_with_margin) {
- return IntersectionModule::NonOccludedCollisionStop{
- closest_idx, collision_stop_line_idx, occlusion_stop_line_idx};
+ } else {
+ const auto occlusion_stop_line =
+ (planner_param_.occlusion.temporal_stop_before_attention_area || !has_traffic_light_)
+ ? first_attention_stop_line_idx
+ : occlusion_stop_line_idx;
+ return IntersectionModule::FirstWaitBeforeOcclusion{
+ is_occlusion_cleared_with_margin, closest_idx, default_stop_line_idx, occlusion_stop_line};
}
-
- return IntersectionModule::Safe{closest_idx, collision_stop_line_idx, occlusion_stop_line_idx};
}
bool IntersectionModule::checkStuckVehicle(
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
index b3465863b216a..1ee4813278aa8 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
@@ -18,7 +18,6 @@
#include "util_type.hpp"
#include
-#include
#include
#include
#include
@@ -116,10 +115,18 @@ class IntersectionModule : public SceneModuleInterface
double ignore_parked_vehicle_speed_threshold;
double stop_release_margin_time;
bool temporal_stop_before_attention_area;
+ struct AbsenceTrafficLight
+ {
+ double creep_velocity;
+ double maximum_peeking_distance;
+ } absence_traffic_light;
} occlusion;
};
- using Indecisive = std::monostate;
+ struct Indecisive
+ {
+ std::string error;
+ };
struct StuckStop
{
size_t closest_idx{0};
@@ -159,6 +166,15 @@ class IntersectionModule : public SceneModuleInterface
size_t first_attention_stop_line_idx{0};
size_t occlusion_stop_line_idx{0};
};
+ struct OccludedAbsenceTrafficLight
+ {
+ bool is_actually_occlusion_cleared{false};
+ bool collision_detected{false};
+ bool temporal_stop_before_attention_required{false};
+ size_t closest_idx{0};
+ size_t first_attention_area_stop_line_idx{0};
+ size_t peeking_limit_line_idx{0};
+ };
struct Safe
{
// NOTE: if RTC is disapproved status, default stop lines are still needed.
@@ -174,20 +190,22 @@ class IntersectionModule : public SceneModuleInterface
size_t occlusion_stop_line_idx{0};
};
using DecisionResult = std::variant<
- Indecisive, // internal process error, or over the pass judge line
- StuckStop, // detected stuck vehicle
- NonOccludedCollisionStop, // detected collision while FOV is clear
- FirstWaitBeforeOcclusion, // stop for a while before peeking to occlusion
- PeekingTowardOcclusion, // peeking into occlusion while collision is not detected
- OccludedCollisionStop, // occlusion and collision are both detected
- Safe, // judge as safe
- TrafficLightArrowSolidOn // only detect vehicles violating traffic rules
+ Indecisive, // internal process error, or over the pass judge line
+ StuckStop, // detected stuck vehicle
+ NonOccludedCollisionStop, // detected collision while FOV is clear
+ FirstWaitBeforeOcclusion, // stop for a while before peeking to occlusion
+ PeekingTowardOcclusion, // peeking into occlusion while collision is not detected
+ OccludedCollisionStop, // occlusion and collision are both detected
+ OccludedAbsenceTrafficLight, // occlusion is detected in the absence of traffic light
+ Safe, // judge as safe
+ TrafficLightArrowSolidOn // only detect vehicles violating traffic rules
>;
IntersectionModule(
const int64_t module_id, const int64_t lane_id, std::shared_ptr planner_data,
const PlannerParam & planner_param, const std::set & associative_ids,
- const bool is_private_area, const bool enable_occlusion_detection, rclcpp::Node & node,
+ const std::string & turn_direction, const bool has_traffic_light,
+ const bool enable_occlusion_detection, const bool is_private_area, rclcpp::Node & node,
const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock);
/**
@@ -211,7 +229,8 @@ class IntersectionModule : public SceneModuleInterface
rclcpp::Node & node_;
const int64_t lane_id_;
const std::set associative_ids_;
- std::string turn_direction_;
+ const std::string turn_direction_;
+ const bool has_traffic_light_;
bool is_go_out_ = false;
bool is_permanent_go_ = false;
@@ -230,6 +249,7 @@ class IntersectionModule : public SceneModuleInterface
StateMachine before_creep_state_machine_; //! for two phase stop
StateMachine occlusion_stop_state_machine_;
StateMachine temporal_stop_before_attention_state_machine_;
+
// NOTE: uuid_ is base member
// for stuck vehicle detection
diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp
index 28be8d0a6a351..08fc275d57d6d 100644
--- a/planning/behavior_velocity_intersection_module/src/util.cpp
+++ b/planning/behavior_velocity_intersection_module/src/util.cpp
@@ -16,10 +16,10 @@
#include "util_type.hpp"
+#include
#include
#include
#include
-#include
#include
#include
#include
diff --git a/planning/behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_intersection_module/src/util.hpp
index 7ba894bd9d32a..6acc1d60443bf 100644
--- a/planning/behavior_velocity_intersection_module/src/util.hpp
+++ b/planning/behavior_velocity_intersection_module/src/util.hpp
@@ -20,14 +20,6 @@
#include
-#include
-
-#ifdef ROS_DISTRO_GALACTIC
-#include
-#else
-#include
-#endif
-
#include