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feat(start_planner): prevent start planner execution in the middle of… #860

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Sep 21, 2023
Merged

feat(start_planner): prevent start planner execution in the middle of… #860

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1 change: 1 addition & 0 deletions planning/behavior_path_planner/config/start_planner/start_planner.param.yaml
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Expand Up @@ -7,6 +7,7 @@
collision_check_margin: 1.0
collision_check_distance_from_end: 1.0
th_moving_object_velocity: 1.0
th_distance_to_middle_of_the_road: 0.1
# shift pull out
enable_shift_pull_out: true
check_shift_path_lane_departure: false
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21 changes: 11 additions & 10 deletions planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md
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Expand Up @@ -59,16 +59,17 @@ PullOutPath --o PullOutPlannerBase

## General parameters for start_planner

| Name | Unit | Type | Description | Default value |
| :---------------------------------------------------------- | :---- | :----- | :------------------------------------------------------------------- | :------------ |
| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
| collision_check_margin | [m] | double | Obstacle collision check margin | 1.0 |
| collision_check_distance_from_end | [m] | double | collision check distance from end point. currently only for pull out | 15.0 |
| Name | Unit | Type | Description | Default value |
| :---------------------------------------------------------- | :---- | :----- | :-------------------------------------------------------------------------- | :------------ |
| th_arrived_distance_m | [m] | double | distance threshold for arrival of path termination | 1.0 |
| th_distance_to_middle_of_the_road | [m] | double | distance threshold to determine if the vehicle is on the middle of the road |
| th_stopped_velocity_mps | [m/s] | double | velocity threshold for arrival of path termination | 0.01 |
| th_stopped_time_sec | [s] | double | time threshold for arrival of path termination | 1.0 |
| th_turn_signal_on_lateral_offset | [m] | double | lateral distance threshold for turning on blinker | 1.0 |
| intersection_search_length | [m] | double | check if intersections exist within this length | 30.0 |
| length_ratio_for_turn_signal_deactivation_near_intersection | [m] | double | deactivate turn signal of this module near intersection | 0.5 |
| collision_check_margin | [m] | double | Obstacle collision check margin | 1.0 |
| collision_check_distance_from_end | [m] | double | collision check distance from end point. currently only for pull out | 15.0 |

## Safety check with static obstacles

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1 change: 1 addition & 0 deletions ...th_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp
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Expand Up @@ -39,6 +39,7 @@ struct StartPlannerParameters
double th_stopped_velocity;
double th_stopped_time;
double th_turn_signal_on_lateral_offset;
double th_distance_to_middle_of_the_road;
double intersection_search_length;
double length_ratio_for_turn_signal_deactivation_near_intersection;
double collision_check_margin;
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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
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Expand Up @@ -36,6 +36,8 @@ StartPlannerModuleManager::StartPlannerModuleManager(
p.th_stopped_time = node->declare_parameter<double>(ns + "th_stopped_time");
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 =
node->declare_parameter<double>(ns + "th_distance_to_middle_of_the_road");
p.intersection_search_length = node->declare_parameter<double>(ns + "intersection_search_length");
p.length_ratio_for_turn_signal_deactivation_near_intersection = node->declare_parameter<double>(
ns + "length_ratio_for_turn_signal_deactivation_near_intersection");
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12 changes: 9 additions & 3 deletions planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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Expand Up @@ -116,10 +116,16 @@ void StartPlannerModule::processOnExit()

bool StartPlannerModule::isExecutionRequested() const
{
// TODO(Sugahara): if required lateral shift distance is small, don't engage this module.
// Execute when current pose is near route start pose
const Pose start_pose = planner_data_->route_handler->getOriginalStartPose();
const Pose & current_pose = planner_data_->self_odometry->pose.pose;
const lanelet::ConstLanelets current_lanes = utils::getCurrentLanes(planner_data_);
const double lateral_distance_to_center_lane =
lanelet::utils::getArcCoordinates(current_lanes, current_pose).distance;

if (std::abs(lateral_distance_to_center_lane) < parameters_->th_distance_to_middle_of_the_road) {
return false;
}

const Pose start_pose = planner_data_->route_handler->getOriginalStartPose();
if (
tier4_autoware_utils::calcDistance2d(start_pose.position, current_pose.position) >
parameters_->th_arrived_distance) {
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