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feat(blind_spot): consider road_shoulder if exist (autowarefoundation#7925) #1650

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Nov 19, 2024
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feat(blind_spot): consider road_shoulder if exist (autowarefoundation#7925) #1650

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31 changes: 25 additions & 6 deletions ...ning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -621,14 +621,14 @@ lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets(
for (const auto i : lane_ids) {
const auto lane = lanelet_map_ptr->laneletLayer.get(i);
const auto ego_half_lanelet = generateHalfLanelet(lane);
const auto adj =
const auto assoc_adj =
turn_direction_ == TurnDirection::LEFT
? (routing_graph_ptr->adjacentLeft(lane))
: (turn_direction_ == TurnDirection::RIGHT ? (routing_graph_ptr->adjacentRight(lane))
: boost::none);
const std::optional<lanelet::ConstLanelet> opposite_adj =
[&]() -> std::optional<lanelet::ConstLanelet> {
if (!!adj) {
if (!!assoc_adj) {
return std::nullopt;
}
if (turn_direction_ == TurnDirection::LEFT) {
Expand All @@ -653,10 +653,27 @@ lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets(
}
}();

if (!adj && !opposite_adj) {
blind_spot_lanelets.push_back(ego_half_lanelet);
} else if (!!adj) {
const auto adj_half_lanelet = generateExtendedAdjacentLanelet(adj.value(), turn_direction_);
const auto assoc_shoulder = [&]() -> std::optional<lanelet::ConstLanelet> {
if (turn_direction_ == TurnDirection::LEFT) {
return planner_data_->route_handler_->getLeftShoulderLanelet(lane);
} else if (turn_direction_ == TurnDirection::RIGHT) {
return planner_data_->route_handler_->getRightShoulderLanelet(lane);
}
return std::nullopt;
}();
if (assoc_shoulder) {
const auto lefts = (turn_direction_ == TurnDirection::LEFT)
? assoc_shoulder.value().leftBound()
: ego_half_lanelet.leftBound();
const auto rights = (turn_direction_ == TurnDirection::LEFT)
? ego_half_lanelet.rightBound()
: assoc_shoulder.value().rightBound();
blind_spot_lanelets.push_back(
lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights)));

} else if (!!assoc_adj) {
const auto adj_half_lanelet =
generateExtendedAdjacentLanelet(assoc_adj.value(), turn_direction_);
const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound()
: ego_half_lanelet.leftBound();
const auto rights = (turn_direction_ == TurnDirection::RIGHT) ? adj_half_lanelet.rightBound()
Expand All @@ -672,6 +689,8 @@ lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets(
: adj_half_lanelet.rightBound();
blind_spot_lanelets.push_back(
lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights)));
} else {
blind_spot_lanelets.push_back(ego_half_lanelet);
}
}
return blind_spot_lanelets;
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