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fix(avoidance): check far objects during shifting #5857

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merged 2 commits into from
Dec 15, 2023
Merged

fix(avoidance): check far objects during shifting #5857

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171b4a1
fix(avoidance): check far objects during shifting
satoshi-ota Dec 13, 2023
0f47c1e
fix(avoidance): update impl
satoshi-ota Dec 15, 2023
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16 changes: 14 additions & 2 deletions planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,8 @@

double getEgoSpeed() const { return std::abs(data_->self_odometry->twist.twist.linear.x); }

geometry_msgs::msg::Pose getEgoPose() const { return data_->self_odometry->pose.pose; }

size_t getConstraintsMapIndex(const double velocity, const std::vector<double> & values) const
{
const auto itr = std::find_if(
Expand Down Expand Up @@ -185,10 +187,20 @@
return parameters_->object_check_max_forward_distance;
}

const auto & route_handler = data_->route_handler;

lanelet::ConstLanelet closest_lane;
if (!route_handler->getClosestLaneletWithinRoute(getEgoPose(), &closest_lane)) {
return parameters_->object_check_max_forward_distance;

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}

const auto limit = route_handler->getTrafficRulesPtr()->speedLimit(closest_lane);
const auto speed = isShifted() ? limit.speedLimit.value() : getEgoSpeed();

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const auto max_shift_length = std::max(
std::abs(parameters_->max_right_shift_length), std::abs(parameters_->max_left_shift_length));
const auto dynamic_distance = PathShifter::calcLongitudinalDistFromJerk(
max_shift_length, getLateralMinJerkLimit(), getEgoSpeed());
const auto dynamic_distance =
PathShifter::calcLongitudinalDistFromJerk(max_shift_length, getLateralMinJerkLimit(), speed);

return std::clamp(
1.5 * dynamic_distance + getNominalPrepareDistance(),
Expand Down
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