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fix(behavior_path_planner): add angle limits to nearest point search #595

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Apr 4, 2022
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fix(behavior_path_planner): add angle limits to nearest point search #595

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c89d355
fix(behavior_path_planner): add angle limits to nearest point search
tkimura4 Mar 28, 2022
f6e2fe8
ci(pre-commit): autofix
pre-commit-ci[bot] Mar 28, 2022
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5 changes: 2 additions & 3 deletions planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,11 +59,10 @@ PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interv

Path toPath(const PathWithLaneId & input);

size_t getIdxByArclength(
const PathWithLaneId & path, const Point & origin, const double signed_arc);
size_t getIdxByArclength(const PathWithLaneId & path, const Pose & origin, const double signed_arc);

void clipPathLength(
PathWithLaneId & path, const Point base_pos, const double forward, const double backward);
PathWithLaneId & path, const Pose base_pose, const double forward, const double backward);

std::pair<TurnIndicatorsCommand, double> getPathTurnSignal(
const lanelet::ConstLanelets & current_lanes, const ShiftedPath & path,
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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -686,11 +686,11 @@ void BehaviorPathPlannerNode::onRoute(const HADMapRoute::ConstSharedPtr msg)

void BehaviorPathPlannerNode::clipPathLength(PathWithLaneId & path) const
{
const auto ego_pos = planner_data_->self_pose->pose.position;
const auto ego_pose = planner_data_->self_pose->pose;
const double forward = planner_data_->parameters.forward_path_length;
const double backward = planner_data_->parameters.backward_path_length;

util::clipPathLength(path, ego_pos, forward, backward);
util::clipPathLength(path, ego_pose, forward, backward);
}

PathWithLaneId BehaviorPathPlannerNode::modifyPathForSmoothGoalConnection(
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16 changes: 11 additions & 5 deletions planning/behavior_path_planner/src/path_utilities.cpp
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Expand Up @@ -177,13 +177,19 @@ Path toPath(const PathWithLaneId & input)
return output;
}

size_t getIdxByArclength(const PathWithLaneId & path, const Point & origin, const double signed_arc)
size_t getIdxByArclength(const PathWithLaneId & path, const Pose & origin, const double signed_arc)
{
if (path.points.empty()) {
throw std::runtime_error("[getIdxByArclength] path points must be > 0");
}

const auto closest_idx = tier4_autoware_utils::findNearestIndex(path.points, origin);
const auto boost_closest_idx = tier4_autoware_utils::findNearestIndex(
path.points, origin, std::numeric_limits<double>::max(), M_PI / 4.0);

// If the nearest index search with angle limit fails, search again without angle limit.
size_t closest_idx = boost_closest_idx
? *boost_closest_idx
: tier4_autoware_utils::findNearestIndex(path.points, origin.position);

using tier4_autoware_utils::calcDistance2d;
double sum_length = 0.0;
Expand All @@ -209,14 +215,14 @@ size_t getIdxByArclength(const PathWithLaneId & path, const Point & origin, cons
}

void clipPathLength(
PathWithLaneId & path, const Point base_pos, const double forward, const double backward)
PathWithLaneId & path, const Pose base_pose, const double forward, const double backward)
{
if (path.points.size() < 3) {
return;
}

const auto start_idx = util::getIdxByArclength(path, base_pos, -backward);
const auto end_idx = util::getIdxByArclength(path, base_pos, forward);
const auto start_idx = util::getIdxByArclength(path, base_pose, -backward);
const auto end_idx = util::getIdxByArclength(path, base_pose, forward);

const std::vector<PathPointWithLaneId> clipped_points{
path.points.begin() + start_idx, path.points.begin() + end_idx + 1};
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Expand Up @@ -2520,7 +2520,7 @@ void AvoidanceModule::clipPathLength(PathWithLaneId & path) const
const double forward = planner_data_->parameters.forward_path_length;
const double backward = planner_data_->parameters.backward_path_length;

util::clipPathLength(path, getEgoPosition(), forward, backward);
util::clipPathLength(path, getEgoPose().pose, forward, backward);
}

bool AvoidanceModule::isTargetObjectType(const PredictedObject & object) const
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6 changes: 3 additions & 3 deletions planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
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Expand Up @@ -338,7 +338,7 @@ ShiftPoint SideShiftModule::calcShiftPoint() const
{
const auto & p = parameters_;
const auto ego_speed = std::abs(planner_data_->self_odometry->twist.twist.linear.x);
const auto ego_point = planner_data_->self_pose->pose.position;
const auto ego_pose = planner_data_->self_pose->pose;

const double dist_to_start =
std::max(p.min_distance_to_start_shifting, ego_speed * p.time_to_start_shifting);
Expand All @@ -357,9 +357,9 @@ ShiftPoint SideShiftModule::calcShiftPoint() const

ShiftPoint shift_point;
shift_point.length = lateral_offset_;
shift_point.start_idx = util::getIdxByArclength(*reference_path_, ego_point, dist_to_start);
shift_point.start_idx = util::getIdxByArclength(*reference_path_, ego_pose, dist_to_start);
shift_point.start = reference_path_->points.at(shift_point.start_idx).point.pose;
shift_point.end_idx = util::getIdxByArclength(*reference_path_, ego_point, dist_to_end);
shift_point.end_idx = util::getIdxByArclength(*reference_path_, ego_pose, dist_to_end);
shift_point.end = reference_path_->points.at(shift_point.end_idx).point.pose;

return shift_point;
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