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fix(drivable_area_expansion): correct bound limit check (#5325) #954

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Oct 17, 2023
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fix(drivable_area_expansion): correct bound limit check (#5325) #954

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35 changes: 12 additions & 23 deletions planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,30 +124,19 @@ std::vector<double> calculate_minimum_expansions(
minimum_expansions[bound_idx] = std::max(minimum_expansions[bound_idx], dist);
minimum_expansions[bound_idx + 1] = std::max(minimum_expansions[bound_idx + 1], dist);
// apply the expansion to all bound points within the extra arc length
if (bound_idx + 2 < bound.size()) {
auto up_arc_length =
tier4_autoware_utils::calcDistance2d(*intersection_point, bound[bound_idx + 1]) +
tier4_autoware_utils::calcDistance2d(bound[bound_idx + 1], bound[bound_idx + 2]);
for (auto up_bound_idx = bound_idx + 2;
bound_idx < bound.size() && up_arc_length <= params.extra_arc_length;
++up_bound_idx) {
minimum_expansions[up_bound_idx] = std::max(minimum_expansions[up_bound_idx], dist);
if (up_bound_idx + 1 < bound.size())
up_arc_length +=
tier4_autoware_utils::calcDistance2d(bound[up_bound_idx], bound[up_bound_idx + 1]);
}
auto arc_length =
tier4_autoware_utils::calcDistance2d(*intersection_point, bound[bound_idx + 1]);
for (auto up_bound_idx = bound_idx + 2; up_bound_idx < bound.size(); ++up_bound_idx) {
tier4_autoware_utils::calcDistance2d(bound[bound_idx - 1], bound[bound_idx]);
if (arc_length > params.extra_arc_length) break;
minimum_expansions[up_bound_idx] = std::max(minimum_expansions[up_bound_idx], dist);
}
if (bound_idx > 0) {
auto down_arc_length =
tier4_autoware_utils::calcDistance2d(*intersection_point, bound[bound_idx]) +
tier4_autoware_utils::calcDistance2d(bound[bound_idx - 1], bound[bound_idx]);
for (auto down_bound_idx = bound_idx - 1;
down_bound_idx > 0 && down_arc_length <= params.extra_arc_length; --down_bound_idx) {
minimum_expansions[down_bound_idx] = std::max(minimum_expansions[down_bound_idx], dist);
if (down_bound_idx > 1)
down_arc_length += tier4_autoware_utils::calcDistance2d(
bound[down_bound_idx], bound[down_bound_idx - 1]);
}
arc_length = tier4_autoware_utils::calcDistance2d(*intersection_point, bound[bound_idx]);
for (auto down_offset_idx = 1LU; down_offset_idx < bound_idx; ++down_offset_idx) {
const auto idx = bound_idx - down_offset_idx;
arc_length += tier4_autoware_utils::calcDistance2d(bound[idx - 1], bound[idx]);
if (arc_length > params.extra_arc_length) break;
minimum_expansions[idx] = std::max(minimum_expansions[idx], dist);
}
break;
}
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