Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(behavior_path_planner): improve isPathInLanelet function for lane change #2693

Merged
merged 2 commits into from
Jan 19, 2023
Merged

fix(behavior_path_planner): improve isPathInLanelet function for lane change #2693

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
79dc428
fix(behavior_path_planner): improve isPathInLanelet function for lane…
zulfaqar-azmi-t4 Jan 18, 2023
7078956
simplify the functions
zulfaqar-azmi-t4 Jan 19, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
25 changes: 14 additions & 11 deletions planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,24 +63,26 @@ bool isPathInLanelets(
const PathWithLaneId & path, const lanelet::ConstLanelets & original_lanelets,
const lanelet::ConstLanelets & target_lanelets)
{
const auto current_lane_poly = lanelet::utils::getPolygonFromArcLength(
original_lanelets, 0, std::numeric_limits<double>::max());
const auto target_lane_poly =
lanelet::utils::getPolygonFromArcLength(target_lanelets, 0, std::numeric_limits<double>::max());
const auto current_lane_poly_2d = lanelet::utils::to2D(current_lane_poly).basicPolygon();
const auto target_lane_poly_2d = lanelet::utils::to2D(target_lane_poly).basicPolygon();
for (const auto & pt : path.points) {
bool is_in_lanelet = false;
for (const auto & llt : original_lanelets) {
if (lanelet::utils::isInLanelet(pt.point.pose, llt, 0.1)) {
is_in_lanelet = true;
}
}
for (const auto & llt : target_lanelets) {
if (lanelet::utils::isInLanelet(pt.point.pose, llt, 0.1)) {
is_in_lanelet = true;
}
const lanelet::BasicPoint2d ll_pt(pt.point.pose.position.x, pt.point.pose.position.y);
const auto is_in_current = boost::geometry::covered_by(ll_pt, current_lane_poly_2d);
if (is_in_current) {
continue;
}
if (!is_in_lanelet) {
const auto is_in_target = boost::geometry::covered_by(ll_pt, target_lane_poly_2d);
if (!is_in_target) {
return false;
}
}
return true;
}

double getExpectedVelocityWhenDecelerate(
const double & velocity, const double & expected_acceleration, const double & duration)
{
Expand Down Expand Up @@ -228,6 +230,7 @@ LaneChangePaths getLaneChangePaths(

const auto arc_position_from_current = lanelet::utils::getArcCoordinates(original_lanelets, pose);
const auto arc_position_from_target = lanelet::utils::getArcCoordinates(target_lanelets, pose);

const auto target_lane_length = lanelet::utils::getLaneletLength2d(target_lanelets);

for (double acceleration = 0.0; acceleration >= -maximum_deceleration;
Expand Down