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feat(intersection)!: disable the exception behavior in the private areas #5229

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merged 5 commits into from
Oct 6, 2023
Merged

feat(intersection)!: disable the exception behavior in the private areas #5229

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e78cdc4
feat: make configurable to disable the exception treat of stuck obsta…
yuki-takagi-66 Oct 5, 2023
8d162c6
delete the coment outed lines
yuki-takagi-66 Oct 5, 2023
a2919ac
change "enabled" to "enable"
yuki-takagi-66 Oct 5, 2023
80cb8bf
fix setting
yuki-takagi-66 Oct 5, 2023
a985422
delete unused variables
yuki-takagi-66 Oct 6, 2023
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1 change: 1 addition & 0 deletions planning/behavior_velocity_intersection_module/config/intersection.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
# enable_front_car_decel_prediction: false # By default this feature is disabled
# assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
timeout_private_area: 3.0 # [s] cancel stuck vehicle stop in private area
enable_private_area_stuck_disregard: false #In the intersections which labeled as "private area", the obstacle vehicles judged as "stuck" are neglected if this param is set as true.

collision_detection:
state_transit_margin_time: 1.0
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2 changes: 2 additions & 0 deletions planning/behavior_velocity_intersection_module/src/manager.cpp
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Expand Up @@ -77,6 +77,8 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
*/
ip.stuck_vehicle.timeout_private_area =
getOrDeclareParameter<double>(node, ns + ".stuck_vehicle.timeout_private_area");
ip.stuck_vehicle.enable_private_area_stuck_disregard =
getOrDeclareParameter<bool>(node, ns + ".stuck_vehicle.enable_private_area_stuck_disregard");

ip.collision_detection.min_predicted_path_confidence =
getOrDeclareParameter<double>(node, ns + ".collision_detection.min_predicted_path_confidence");
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11 changes: 2 additions & 9 deletions planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
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@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

Check notice on line 1 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1428 to 1421, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -96,10 +96,6 @@
occlusion_stop_state_machine_.setMarginTime(planner_param_.occlusion.stop_release_margin_time);
occlusion_stop_state_machine_.setState(StateMachine::State::GO);
}
{
stuck_private_area_timeout_.setMarginTime(planner_param_.stuck_vehicle.timeout_private_area);
stuck_private_area_timeout_.setState(StateMachine::State::STOP);
}
{
temporal_stop_before_attention_state_machine_.setMarginTime(
planner_param_.occlusion.before_creep_stop_time);
Expand Down Expand Up @@ -918,16 +914,13 @@
const bool stuck_detected = checkStuckVehicle(planner_data_, path_lanelets);
if (stuck_detected && stuck_stop_line_idx_opt) {
auto stuck_stop_line_idx = stuck_stop_line_idx_opt.value();
const bool stopped_at_stuck_line = stoppedForDuration(
stuck_stop_line_idx, planner_param_.stuck_vehicle.timeout_private_area,
stuck_private_area_timeout_);
const bool timeout = (is_private_area_ && stopped_at_stuck_line);
if (!timeout) {
if (is_private_area_ && planner_param_.stuck_vehicle.enable_private_area_stuck_disregard) {
if (
default_stop_line_idx_opt &&
fromEgoDist(stuck_stop_line_idx) < -planner_param_.common.stop_overshoot_margin) {
stuck_stop_line_idx = default_stop_line_idx_opt.value();
}
} else {
return IntersectionModule::StuckStop{
closest_idx, stuck_stop_line_idx, occlusion_peeking_stop_line_idx_opt};
}
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2 changes: 1 addition & 1 deletion planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
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Expand Up @@ -70,6 +70,7 @@ class IntersectionModule : public SceneModuleInterface
bool enable_front_car_decel_prediction; //! flag for using above feature
*/
double timeout_private_area;
bool enable_private_area_stuck_disregard;
} stuck_vehicle;
struct CollisionDetection
{
Expand Down Expand Up @@ -253,7 +254,6 @@ class IntersectionModule : public SceneModuleInterface

// for stuck vehicle detection
const bool is_private_area_;
StateMachine stuck_private_area_timeout_;

// for RTC
const UUID occlusion_uuid_;
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