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fix(behavior_velocity_planner): avoid duplicates in intersection module #1483

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Aug 2, 2022
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fix(behavior_velocity_planner): avoid duplicates in intersection module #1483

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6e44bfa
fix(behavior_velocity_planner): avoid duplicates in intersection module
maxime-clem Aug 1, 2022
1704a7c
Merge branch 'main' into fix-behavior_velocity_planner-overlapping_in…
maxime-clem Aug 2, 2022
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5 changes: 4 additions & 1 deletion planning/behavior_velocity_planner/include/scene_module/intersection/util.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ bool getObjectiveLanelets(
lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr,
const int lane_id, const double detection_area_length, const double right_margin,
const double left_margin, std::vector<lanelet::ConstLanelets> * conflicting_lanelets_result,
std::vector<lanelet::ConstLanelets> * objective_lanelets_result,
lanelet::ConstLanelets * objective_lanelets_result,
std::vector<lanelet::ConstLanelets> * objective_lanelets_with_margin_result,
const rclcpp::Logger logger);

Expand Down Expand Up @@ -118,6 +118,9 @@ bool getStopPoseIndexFromMap(
std::vector<lanelet::CompoundPolygon3d> getPolygon3dFromLaneletsVec(
const std::vector<lanelet::ConstLanelets> & ll_vec, double clip_length);

std::vector<lanelet::CompoundPolygon3d> getPolygon3dFromLanelets(
const lanelet::ConstLanelets & ll_vec, double clip_length);

std::vector<int> getLaneletIdsFromLaneletsVec(const std::vector<lanelet::ConstLanelets> & ll_vec);

double calcArcLengthFromPath(
Expand Down
8 changes: 4 additions & 4 deletions planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
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Expand Up @@ -91,7 +91,7 @@ bool IntersectionModule::modifyPathVelocity(
const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr();

/* get detection area and conflicting area */
std::vector<lanelet::ConstLanelets> detection_area_lanelets;
lanelet::ConstLanelets detection_area_lanelets;
std::vector<lanelet::ConstLanelets> conflicting_area_lanelets;
std::vector<lanelet::ConstLanelets> detection_area_lanelets_with_margin;

Expand All @@ -102,15 +102,15 @@ bool IntersectionModule::modifyPathVelocity(
logger_);
std::vector<lanelet::CompoundPolygon3d> conflicting_areas = util::getPolygon3dFromLaneletsVec(
conflicting_area_lanelets, planner_param_.detection_area_length);
std::vector<lanelet::CompoundPolygon3d> detection_areas = util::getPolygon3dFromLaneletsVec(
detection_area_lanelets, planner_param_.detection_area_length);
std::vector<lanelet::CompoundPolygon3d> detection_areas =
util::getPolygon3dFromLanelets(detection_area_lanelets, planner_param_.detection_area_length);
std::vector<lanelet::CompoundPolygon3d> detection_areas_with_margin =
util::getPolygon3dFromLaneletsVec(
detection_area_lanelets_with_margin, planner_param_.detection_area_length);
std::vector<int> conflicting_area_lanelet_ids =
util::getLaneletIdsFromLaneletsVec(conflicting_area_lanelets);
std::vector<int> detection_area_lanelet_ids =
util::getLaneletIdsFromLaneletsVec(detection_area_lanelets);
util::getLaneletIdsFromLaneletsVec({detection_area_lanelets});

if (detection_areas.empty()) {
RCLCPP_DEBUG(logger_, "no detection area. skip computation.");
Expand Down
2 changes: 1 addition & 1 deletion ...behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp
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Expand Up @@ -65,7 +65,7 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(
const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr();

/* get detection area */
std::vector<lanelet::ConstLanelets> detection_area_lanelets;
lanelet::ConstLanelets detection_area_lanelets;
std::vector<lanelet::ConstLanelets> conflicting_area_lanelets;
std::vector<lanelet::ConstLanelets> detection_area_lanelets_with_margin;

Expand Down
38 changes: 28 additions & 10 deletions planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -337,7 +337,7 @@ bool getObjectiveLanelets(
lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr,
const int lane_id, const double detection_area_length, double right_margin, double left_margin,
std::vector<lanelet::ConstLanelets> * conflicting_lanelets_result,
std::vector<lanelet::ConstLanelets> * objective_lanelets_result,
lanelet::ConstLanelets * objective_lanelets_result,
std::vector<lanelet::ConstLanelets> * objective_lanelets_with_margin_result,
const rclcpp::Logger logger)
{
Expand Down Expand Up @@ -399,21 +399,28 @@ bool getObjectiveLanelets(

// get possible lanelet path that reaches conflicting_lane longer than given length
const double length = detection_area_length;
std::vector<lanelet::ConstLanelets> objective_lanelets_sequences;
lanelet::ConstLanelets objective_and_preceding_lanelets;
std::set<lanelet::Id> objective_ids;
for (const auto & ll : objective_lanelets) {
// Preceding lanes does not include objective_lane so add them at the end
objective_lanelets_sequences.push_back(ll);
for (const auto & l : ll) {
const auto & inserted = objective_ids.insert(l.id());
if (inserted.second) objective_and_preceding_lanelets.push_back(l);
}
// get preceding lanelets without ego_lanelets
// to prevent the detection area from including the ego lanes and its' preceding lanes.
const auto lanelet_sequences = lanelet::utils::query::getPrecedingLaneletSequences(
routing_graph_ptr, ll.front(), length, ego_lanelets);
for (auto & l : lanelet_sequences) {
objective_lanelets_sequences.push_back(l);
for (const auto & ls : lanelet_sequences) {
for (const auto & l : ls) {
const auto & inserted = objective_ids.insert(l.id());
if (inserted.second) objective_and_preceding_lanelets.push_back(l);
}
}
}

*conflicting_lanelets_result = conflicting_lanelets_ex_yield_ego;
*objective_lanelets_result = objective_lanelets_sequences;
*objective_lanelets_result = objective_and_preceding_lanelets;
*objective_lanelets_with_margin_result = objective_lanelets_with_margin;

// set this flag true when debugging
Expand All @@ -432,10 +439,8 @@ bool getObjectiveLanelets(
for (const auto & l : objective_lanelets) {
ss_o << l.front().id() << ", ";
}
for (const auto & l : objective_lanelets_sequences) {
for (const auto & ll : l) {
ss_os << ll.id() << ", ";
}
for (const auto & l : objective_and_preceding_lanelets) {
ss_os << l.id() << ", ";
}
RCLCPP_INFO(
logger, "getObjectiveLanelets() conflict = %s yield = %s ego = %s", ss_c.str().c_str(),
Expand All @@ -459,6 +464,19 @@ std::vector<lanelet::CompoundPolygon3d> getPolygon3dFromLaneletsVec(
return p_vec;
}

std::vector<lanelet::CompoundPolygon3d> getPolygon3dFromLanelets(
const lanelet::ConstLanelets & ll_vec, double clip_length)
{
std::vector<lanelet::CompoundPolygon3d> p_vec;
for (const auto & ll : ll_vec) {
const double path_length = lanelet::utils::getLaneletLength3d({ll});
const auto polygon3d =
lanelet::utils::getPolygonFromArcLength({ll}, path_length - clip_length, path_length);
p_vec.push_back(polygon3d);
}
return p_vec;
}

std::vector<int> getLaneletIdsFromLaneletsVec(const std::vector<lanelet::ConstLanelets> & ll_vec)
{
std::vector<int> id_list;
Expand Down