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feat(behavior_path_planner): remove redundant process (#4077) #622

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Jun 26, 2023
Merged

feat(behavior_path_planner): remove redundant process (#4077) #622

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4 changes: 3 additions & 1 deletion ...havior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,8 @@ class LaneChangeBase

virtual bool hasFinishedAbort() const = 0;

virtual bool isLaneChangeRequired() const = 0;

virtual bool isAbortState() const = 0;

virtual bool isAbleToReturnCurrentLane() const = 0;
Expand Down Expand Up @@ -193,7 +195,7 @@ class LaneChangeBase
virtual bool getLaneChangePaths(
const lanelet::ConstLanelets & original_lanelets,
const lanelet::ConstLanelets & target_lanelets, Direction direction,
LaneChangePaths * candidate_paths) const = 0;
LaneChangePaths * candidate_paths, const bool check_safety) const = 0;

virtual std::vector<DrivableLanes> getDrivableLanes() const = 0;

Expand Down
4 changes: 3 additions & 1 deletion ...g/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
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Expand Up @@ -81,6 +81,8 @@ class NormalLaneChange : public LaneChangeBase

bool isAbortState() const override;

bool isLaneChangeRequired() const override;

protected:
lanelet::ConstLanelets getCurrentLanes() const override;

Expand All @@ -96,7 +98,7 @@ class NormalLaneChange : public LaneChangeBase
bool getLaneChangePaths(
const lanelet::ConstLanelets & original_lanelets,
const lanelet::ConstLanelets & target_lanelets, Direction direction,
LaneChangePaths * candidate_paths) const override;
LaneChangePaths * candidate_paths, const bool check_safety = true) const override;

std::vector<DrivableLanes> getDrivableLanes() const override;

Expand Down
14 changes: 2 additions & 12 deletions planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
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Expand Up @@ -67,22 +67,12 @@ bool LaneChangeInterface::isExecutionRequested() const
return true;
}

LaneChangePath selected_path;
module_type_->setPreviousModulePaths(
getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path);
const auto [found_valid_path, found_safe_path] = module_type_->getSafePath(selected_path);

return found_valid_path;
return module_type_->isLaneChangeRequired();
}

bool LaneChangeInterface::isExecutionReady() const
{
LaneChangePath selected_path;
module_type_->setPreviousModulePaths(
getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path);
const auto [found_valid_path, found_safe_path] = module_type_->getSafePath(selected_path);

return found_safe_path;
return module_type_->isSafe();
}

ModuleStatus LaneChangeInterface::updateState()
Expand Down
28 changes: 27 additions & 1 deletion planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Expand Up @@ -89,6 +89,28 @@ std::pair<bool, bool> NormalLaneChange::getSafePath(LaneChangePath & safe_path)
return {true, found_safe_path};
}

bool NormalLaneChange::isLaneChangeRequired() const
{
const auto current_lanes = getCurrentLanes();

if (current_lanes.empty()) {
return false;
}

const auto target_lanes = getLaneChangeLanes(current_lanes, direction_);

if (target_lanes.empty()) {
return false;
}

// find candidate paths
LaneChangePaths valid_paths{};
[[maybe_unused]] const auto found_safe_path =
getLaneChangePaths(current_lanes, target_lanes, direction_, &valid_paths, false);

return !valid_paths.empty();
}

LaneChangePath NormalLaneChange::getLaneChangePath() const
{
return isAbortState() ? *abort_path_ : status_.lane_change_path;
Expand Down Expand Up @@ -397,7 +419,7 @@ PathWithLaneId NormalLaneChange::getPrepareSegment(

bool NormalLaneChange::getLaneChangePaths(
const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets,
Direction direction, LaneChangePaths * candidate_paths) const
Direction direction, LaneChangePaths * candidate_paths, const bool check_safety) const
{
object_debug_.clear();
if (original_lanelets.empty() || target_lanelets.empty()) {
Expand Down Expand Up @@ -648,6 +670,10 @@ bool NormalLaneChange::getLaneChangePaths(
}
candidate_paths->push_back(*candidate_path);

if (!check_safety) {
return false;
}

const auto [is_safe, is_object_coming_from_rear] = utils::lane_change::isLaneChangePathSafe(
*candidate_path, dynamic_objects, dynamic_object_indices, getEgoPose(), getEgoTwist(),
common_parameter, *lane_change_parameters_, common_parameter.expected_front_deceleration,
Expand Down
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