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style(pre-commit): autofix
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pre-commit-ci[bot] committed Oct 6, 2023
1 parent 513916e commit 514f058
Showing 1 changed file with 35 additions and 30 deletions.
65 changes: 35 additions & 30 deletions planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,24 +93,25 @@ LaneChangeModuleManager::LaneChangeModuleManager(
getOrDeclareParameter<double>(*node, parameter("stuck_detection.stop_time"));

// safety check
p.allow_loose_check_for_cancel = getOrDeclareParameter<bool>(*node, parameter("safety_check.allow_loose_check_for_cancel"));
p.allow_loose_check_for_cancel =
getOrDeclareParameter<bool>(*node, parameter("safety_check.allow_loose_check_for_cancel"));

p.rss_params.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.longitudinal_distance_min_threshold"));
p.rss_params.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.longitudinal_distance_min_threshold"));
p.rss_params.longitudinal_velocity_delta_time = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.longitudinal_velocity_delta_time"));
p.rss_params.front_vehicle_deceleration =
getOrDeclareParameter<double>(*node, parameter("safety_check.execution.expected_front_deceleration"));
p.rss_params.rear_vehicle_deceleration =
getOrDeclareParameter<double>(*node, parameter("safety_check.execution.expected_rear_deceleration"));
p.rss_params.rear_vehicle_reaction_time =
getOrDeclareParameter<double>(*node, parameter("safety_check.execution.rear_vehicle_reaction_time"));
p.rss_params.rear_vehicle_safety_time_margin =
getOrDeclareParameter<double>(*node, parameter("safety_check.execution.rear_vehicle_safety_time_margin"));
p.rss_params.lateral_distance_max_threshold =
getOrDeclareParameter<double>(*node, parameter("safety_check.execution.lateral_distance_max_threshold"));
p.rss_params.front_vehicle_deceleration = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.expected_front_deceleration"));
p.rss_params.rear_vehicle_deceleration = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.expected_rear_deceleration"));
p.rss_params.rear_vehicle_reaction_time = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.rear_vehicle_reaction_time"));
p.rss_params.rear_vehicle_safety_time_margin = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.rear_vehicle_safety_time_margin"));
p.rss_params.lateral_distance_max_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.lateral_distance_max_threshold"));

p.rss_params_for_abort.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.cancel.longitudinal_distance_min_threshold"));
Expand All @@ -120,12 +121,12 @@ LaneChangeModuleManager::LaneChangeModuleManager(
*node, parameter("safety_check.cancel.expected_front_deceleration_for_abort"));
p.rss_params_for_abort.rear_vehicle_deceleration = getOrDeclareParameter<double>(
*node, parameter("safety_check.cancel.expected_rear_deceleration_for_abort"));
p.rss_params_for_abort.rear_vehicle_reaction_time =
getOrDeclareParameter<double>(*node, parameter("safety_check.cancel.rear_vehicle_reaction_time"));
p.rss_params_for_abort.rear_vehicle_safety_time_margin =
getOrDeclareParameter<double>(*node, parameter("safety_check.cancel.rear_vehicle_safety_time_margin"));
p.rss_params_for_abort.lateral_distance_max_threshold =
getOrDeclareParameter<double>(*node, parameter("safety_check.cancel.lateral_distance_max_threshold"));
p.rss_params_for_abort.rear_vehicle_reaction_time = getOrDeclareParameter<double>(
*node, parameter("safety_check.cancel.rear_vehicle_reaction_time"));
p.rss_params_for_abort.rear_vehicle_safety_time_margin = getOrDeclareParameter<double>(
*node, parameter("safety_check.cancel.rear_vehicle_safety_time_margin"));
p.rss_params_for_abort.lateral_distance_max_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.cancel.lateral_distance_max_threshold"));

// target object
{
Expand Down Expand Up @@ -171,19 +172,23 @@ LaneChangeModuleManager::LaneChangeModuleManager(
}

// validation of safety check parameters
// if loosely check is not allowed, lane change module will keep on chattering and canceling, and false positive situation might occur
if(!p.allow_loose_check_for_cancel){
if(p.rss_params.front_vehicle_deceleration > p.rss_params_for_abort.front_vehicle_deceleration ||
p.rss_params.rear_vehicle_deceleration > p.rss_params_for_abort.rear_vehicle_deceleration ||
p.rss_params.rear_vehicle_reaction_time > p.rss_params_for_abort.rear_vehicle_reaction_time ||
p.rss_params.rear_vehicle_safety_time_margin > p.rss_params_for_abort.rear_vehicle_safety_time_margin ||
p.rss_params.lateral_distance_max_threshold > p.rss_params_for_abort.lateral_distance_max_threshold ||
p.rss_params.longitudinal_distance_min_threshold > p.rss_params_for_abort.longitudinal_distance_min_threshold ||
p.rss_params.longitudinal_velocity_delta_time > p.rss_params_for_abort.longitudinal_velocity_delta_time){

RCLCPP_FATAL_STREAM(
logger_, "abort parameter might be loose... Terminating the program...");
exit(EXIT_FAILURE);
// if loosely check is not allowed, lane change module will keep on chattering and canceling, and
// false positive situation might occur
if (!p.allow_loose_check_for_cancel) {
if (
p.rss_params.front_vehicle_deceleration > p.rss_params_for_abort.front_vehicle_deceleration ||
p.rss_params.rear_vehicle_deceleration > p.rss_params_for_abort.rear_vehicle_deceleration ||
p.rss_params.rear_vehicle_reaction_time > p.rss_params_for_abort.rear_vehicle_reaction_time ||
p.rss_params.rear_vehicle_safety_time_margin >
p.rss_params_for_abort.rear_vehicle_safety_time_margin ||
p.rss_params.lateral_distance_max_threshold >
p.rss_params_for_abort.lateral_distance_max_threshold ||
p.rss_params.longitudinal_distance_min_threshold >
p.rss_params_for_abort.longitudinal_distance_min_threshold ||
p.rss_params.longitudinal_velocity_delta_time >
p.rss_params_for_abort.longitudinal_velocity_delta_time) {
RCLCPP_FATAL_STREAM(logger_, "abort parameter might be loose... Terminating the program...");
exit(EXIT_FAILURE);
}
}
if (p.cancel.delta_time < 1.0) {
Expand Down

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