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chore: cherry pick 6438+6470+6558 #1162

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merged 3 commits into from
Mar 11, 2024
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Merged

chore: cherry pick 6438+6470+6558 #1162

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e6fbf9e
feat(strat_planner): add a prepare time for blinker before taking act…
soblin Feb 20, 2024
df33eb0
fix(start_planner): start prepare blinker when autonomous mode is ava…
soblin Feb 26, 2024
45dbbbd
fix(start_planner): consider backward completion before preparing bli…
soblin Mar 7, 2024
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1 change: 1 addition & 0 deletions planning/behavior_path_start_planner_module/config/start_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
backward_path_update_duration: 3.0
ignore_distance_from_lane_end: 15.0
# turns signal
prepare_time_before_start: 0.0
th_turn_signal_on_lateral_offset: 1.0
intersection_search_length: 30.0
length_ratio_for_turn_signal_deactivation_near_intersection: 0.5
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5 changes: 5 additions & 0 deletions ..._start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
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Expand Up @@ -69,6 +69,10 @@ struct PullOutStatus
bool prev_is_safe_dynamic_objects{false};
std::shared_ptr<PathWithLaneId> prev_stop_path_after_approval{nullptr};
bool has_stop_point{false};
std::optional<Pose> stop_pose{std::nullopt};
//! record the first time when ego started forward-driving (maybe after backward driving
//! completion) in AUTONOMOUS operation mode
std::optional<rclcpp::Time> first_engaged_and_driving_forward_time{std::nullopt};

PullOutStatus() {}
};
Expand Down Expand Up @@ -228,6 +232,7 @@ class StartPlannerModule : public SceneModuleInterface
void updateStatusAfterBackwardDriving();
PredictedObjects filterStopObjectsInPullOutLanes(
const lanelet::ConstLanelets & pull_out_lanes, const double velocity_threshold) const;
bool needToPrepareBlinkerBeforeStartDrivingForward() const;
bool hasFinishedPullOut() const;
bool hasFinishedBackwardDriving() const;
bool hasCollisionWithDynamicObjects() const;
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1 change: 1 addition & 0 deletions ...rt_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp
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Expand Up @@ -38,6 +38,7 @@ struct StartPlannerParameters
double th_arrived_distance{0.0};
double th_stopped_velocity{0.0};
double th_stopped_time{0.0};
double prepare_time_before_start{0.0};
double th_turn_signal_on_lateral_offset{0.0};
double th_distance_to_middle_of_the_road{0.0};
double intersection_search_length{0.0};
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1 change: 1 addition & 0 deletions planning/behavior_path_start_planner_module/src/manager.cpp
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Expand Up @@ -36,6 +36,7 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
p.th_arrived_distance = node->declare_parameter<double>(ns + "th_arrived_distance");
p.th_stopped_velocity = node->declare_parameter<double>(ns + "th_stopped_velocity");
p.th_stopped_time = node->declare_parameter<double>(ns + "th_stopped_time");
p.prepare_time_before_start = node->declare_parameter<double>(ns + "prepare_time_before_start");
p.th_turn_signal_on_lateral_offset =
node->declare_parameter<double>(ns + "th_turn_signal_on_lateral_offset");
p.th_distance_to_middle_of_the_road =
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20 changes: 19 additions & 1 deletion planning/behavior_path_start_planner_module/src/start_planner_module.cpp
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Expand Up @@ -104,7 +104,7 @@ void StartPlannerModule::onFreespacePlannerTimer()
BehaviorModuleOutput StartPlannerModule::run()
{
updateData();
if (!isActivated()) {
if (!isActivated() || needToPrepareBlinkerBeforeStartDrivingForward()) {
return planWaitingApproval();
}

Expand Down Expand Up @@ -161,6 +161,12 @@ void StartPlannerModule::updateData()
DEBUG_PRINT("StartPlannerModule::updateData() received new route, reset status");
}

if (
planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&
status_.driving_forward && !status_.first_engaged_and_driving_forward_time) {
status_.first_engaged_and_driving_forward_time = clock_->now();
}

if (hasFinishedBackwardDriving()) {
updateStatusAfterBackwardDriving();
DEBUG_PRINT("StartPlannerModule::updateData() completed backward driving");
Expand Down Expand Up @@ -962,6 +968,18 @@ bool StartPlannerModule::hasFinishedPullOut() const
return has_finished;
}

bool StartPlannerModule::needToPrepareBlinkerBeforeStartDrivingForward() const
{
if (!status_.first_engaged_and_driving_forward_time) {
return false;
}
const auto first_engaged_and_driving_forward_time =
status_.first_engaged_and_driving_forward_time.value();
const double elapsed =
rclcpp::Duration(clock_->now() - first_engaged_and_driving_forward_time).seconds();
return elapsed < parameters_->prepare_time_before_start;
}

bool StartPlannerModule::isStuck()
{
if (!isStopped()) {
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