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feat(detection_area)!: suppression of giving up stopping #1631

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merged 1 commit into from
Nov 22, 2024
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feat(detection_area)!: suppression of giving up stopping #1631

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5 changes: 4 additions & 1 deletion planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,8 @@ class DetectionAreaModule : public SceneModuleInterface
double dead_line_margin;
bool use_pass_judge_line;
double state_clear_time;
double distance_to_judge_over_stop_line;
bool suppress_pass_judge_when_stopping;
};

public:
Expand All @@ -82,7 +84,8 @@ class DetectionAreaModule : public SceneModuleInterface

bool isOverLine(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const;
const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose,
const double margin) const;

bool hasEnoughBrakingDistance(
const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const;
Expand Down
4 changes: 4 additions & 0 deletions planning/behavior_velocity_planner/src/scene_module/detection_area/manager.cpp
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Expand Up @@ -69,6 +69,10 @@ DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node)
planner_param_.dead_line_margin = node.declare_parameter(ns + ".dead_line_margin", 5.0);
planner_param_.use_pass_judge_line = node.declare_parameter(ns + ".use_pass_judge_line", false);
planner_param_.state_clear_time = node.declare_parameter(ns + ".state_clear_time", 2.0);
planner_param_.distance_to_judge_over_stop_line =
node.declare_parameter(ns + ".distance_to_judge_over_stop_line", 0.0);
planner_param_.suppress_pass_judge_when_stopping =
node.declare_parameter(ns + ".suppress_pass_judge_when_stopping", false);
}

void DetectionAreaModuleManager::launchNewModules(
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19 changes: 14 additions & 5 deletions planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -231,7 +231,11 @@ bool DetectionAreaModule::modifyPathVelocity(

// Check state
if (canClearStopState()) {
state_ = State::GO;
if (
!planner_param_.suppress_pass_judge_when_stopping ||
planner_data_->current_velocity->twist.linear.x > 1e-3) {
state_ = State::GO;
}
last_obstacle_found_time_ = {};
return true;
}
Expand All @@ -252,7 +256,7 @@ bool DetectionAreaModule::modifyPathVelocity(
const auto & dead_line_pose = dead_line_point->second;
debug_data_.dead_line_poses.push_back(dead_line_pose);

if (isOverLine(original_path, self_pose, dead_line_pose)) {
if (isOverLine(original_path, self_pose, dead_line_pose, 0.0)) {
RCLCPP_WARN(logger_, "[detection_area] vehicle is over dead line");
return true;
}
Expand All @@ -268,7 +272,10 @@ bool DetectionAreaModule::modifyPathVelocity(
const auto & stop_pose = stop_point->second;

// Ignore objects detected after stop_line if not in STOP state
if (state_ != State::STOP && isOverLine(original_path, self_pose, stop_pose)) {
if (
state_ != State::STOP &&
isOverLine(
original_path, self_pose, stop_pose, -planner_param_.distance_to_judge_over_stop_line)) {
return true;
}

Expand Down Expand Up @@ -355,15 +362,17 @@ bool DetectionAreaModule::canClearStopState() const

bool DetectionAreaModule::isOverLine(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const
const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose,
const double margin) const
{
const PointWithSearchRangeIndex src_point_with_search_range_index =
planning_utils::findFirstNearSearchRangeIndex(path.points, self_pose.position);
const PointWithSearchRangeIndex dst_point_with_search_range_index = {
line_pose.position, planning_utils::getPathIndexRangeIncludeLaneId(path, lane_id_)};

return planning_utils::calcSignedArcLengthWithSearchIndex(
path.points, src_point_with_search_range_index, dst_point_with_search_range_index) < 0;
path.points, src_point_with_search_range_index, dst_point_with_search_range_index) <
margin;
}

bool DetectionAreaModule::hasEnoughBrakingDistance(
Expand Down
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