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fix(avoidance): cherry pick #1129

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merged 2 commits into from
Feb 7, 2024
Merged

fix(avoidance): cherry pick #1129

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8f67b64
fix(avoidance): unexpected stop decision in avoidance module (#6320)
satoshi-ota Feb 6, 2024
2c1ad39
fix(avoidance): ghost debug markers due to duplicated marker id (#6330)
satoshi-ota Feb 7, 2024
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3 changes: 2 additions & 1 deletion planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -261,10 +261,11 @@ class AvoidanceHelper

bool isComfortable(const AvoidLineArray & shift_lines) const
{
const auto JERK_BUFFER = 0.1; // [m/sss]
return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) {
return PathShifter::calcJerkFromLatLonDistance(
line.getRelativeLength(), line.getRelativeLongitudinal(), getAvoidanceEgoSpeed()) <
getLateralMaxJerkLimit();
getLateralMaxJerkLimit() + JERK_BUFFER;
});
}

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2 changes: 1 addition & 1 deletion planning/behavior_path_avoidance_module/src/debug.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ int32_t uuidToInt32(const unique_identifier_msgs::msg::UUID & uuid)
int32_t ret = 0;

for (size_t i = 0; i < sizeof(int32_t) / sizeof(int8_t); ++i) {
ret <<= sizeof(int8_t);
ret <<= sizeof(int8_t) * 8;
ret |= uuid.uuid.at(i);
}

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30 changes: 23 additions & 7 deletions planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
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Expand Up @@ -185,29 +185,36 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
}

// prepare distance is not enough. unavoidable.
if (remaining_distance < 1e-3) {
if (avoidance_distance < 1e-3) {
object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO;
return std::nullopt;
}

// calculate lateral jerk.
const auto required_jerk = PathShifter::calcJerkFromLatLonDistance(
avoiding_shift, remaining_distance, helper_->getAvoidanceEgoSpeed());
avoiding_shift, avoidance_distance, helper_->getAvoidanceEgoSpeed());

// relax lateral jerk limit. avoidable.
if (required_jerk < helper_->getLateralMaxJerkLimit()) {
return std::make_pair(desire_shift_length, avoidance_distance);
}

constexpr double LON_DIST_BUFFER = 1e-3;

// avoidance distance is not enough. unavoidable.
if (!isBestEffort(parameters_->policy_deceleration)) {
object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK;
return std::nullopt;
if (avoidance_distance < helper_->getMinAvoidanceDistance(avoiding_shift) + LON_DIST_BUFFER) {
object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO;
return std::nullopt;
} else {
object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK;
return std::nullopt;
}
}

// output avoidance path under lateral jerk constraints.
const auto feasible_relative_shift_length = PathShifter::calcLateralDistFromJerk(
remaining_distance, helper_->getLateralMaxJerkLimit(), helper_->getAvoidanceEgoSpeed());
avoidance_distance, helper_->getLateralMaxJerkLimit(), helper_->getAvoidanceEgoSpeed());

if (std::abs(feasible_relative_shift_length) < parameters_->lateral_execution_threshold) {
object.reason = "LessThanExecutionThreshold";
Expand All @@ -218,16 +225,25 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
desire_shift_length > 0.0 ? feasible_relative_shift_length + current_ego_shift
: -1.0 * feasible_relative_shift_length + current_ego_shift;

if (
avoidance_distance <
helper_->getMinAvoidanceDistance(feasible_shift_length) + LON_DIST_BUFFER) {
object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO;
return std::nullopt;
}

const double LAT_DIST_BUFFER = desire_shift_length > 0.0 ? 1e-3 : -1e-3;

const auto infeasible =
std::abs(feasible_shift_length - object.overhang_dist) <
std::abs(feasible_shift_length - object.overhang_dist) - LAT_DIST_BUFFER <
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. ");
object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK;
return std::nullopt;
}

return std::make_pair(feasible_shift_length, avoidance_distance);
return std::make_pair(feasible_shift_length - LAT_DIST_BUFFER, avoidance_distance);
};

const auto is_forward_object = [](const auto & object) { return object.longitudinal > 0.0; };
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