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

feat(start_planner): override lane departure check #1169

Merged
merged 3 commits into from
Mar 5, 2024
Merged

feat(start_planner): override lane departure check #1169

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
8d29894
feat(start_planner): allow lane departure check override (#6512)
danielsanchezaran Feb 29, 2024
6782bba
eliminate merge conflict problems
danielsanchezaran Mar 4, 2024
ba5fe4c
Update planning/behavior_path_start_planner_module/src/manager.cpp
shmpwk Mar 5, 2024
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
21 changes: 11 additions & 10 deletions planning/behavior_path_start_planner_module/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -211,16 +211,17 @@ Pull out distance is calculated by the speed, lateral deviation, and the lateral

#### parameters for shift pull out

| Name | Unit | Type | Description | Default value |
| :------------------------------ | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ |
| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true |
| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | false |
| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 |
| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 |
| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
| maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 |
| Name | Unit | Type | Description | Default value |
| :--------------------------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ |
| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true |
| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | true |
| allow_check_shift_path_lane_departure_override | [-] | bool | flag to override/cancel lane departure check if the ego vehicle's starting pose is already out of lane | false |
| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 |
| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 |
| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
| maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 |

### **geometric pull out**

Expand Down
2 changes: 2 additions & 0 deletions planning/behavior_path_start_planner_module/config/start_planner.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@
center_line_path_interval: 1.0
# shift pull out
enable_shift_pull_out: true
check_shift_path_lane_departure: true
allow_check_shift_path_lane_departure_override: false
shift_collision_check_distance_from_end: -10.0
minimum_shift_pull_out_distance: 0.0
deceleration_interval: 15.0
Expand Down
15 changes: 15 additions & 0 deletions ..._start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,21 @@ class StartPlannerModule : public SceneModuleInterface

bool requiresDynamicObjectsCollisionDetection() const;

uint16_t getSteeringFactorDirection(
const behavior_path_planner::BehaviorModuleOutput & output) const
{
switch (output.turn_signal_info.turn_signal.command) {
case TurnIndicatorsCommand::ENABLE_LEFT:
return SteeringFactor::LEFT;

case TurnIndicatorsCommand::ENABLE_RIGHT:
return SteeringFactor::RIGHT;

default:
return SteeringFactor::STRAIGHT;
}
};

/**
* @brief Check if there are no moving objects around within a certain radius.
*
Expand Down
1 change: 1 addition & 0 deletions ...rt_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp
View file