refactor(avoidance): unify redundant parameters (#6798)

* refactor(avoidance): unify redundant parameters Signed-off-by: satoshi-ota <[email protected]> * refactor(avoidance): remove unused parameters Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Apr 12, 2024 · 682a814 · 682a814
1 parent 8793584
commit 682a814
Show file tree

Hide file tree

Showing 6 changed files with 29 additions and 68 deletions.
diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml
@@ -28,7 +28,6 @@
             hard_margin_for_parked_vehicle: 0.7         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.5                   # [m] FOR DEVELOPER
-          use_conservative_buffer_longitudinal: true    # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -39,7 +38,6 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          use_conservative_buffer_longitudinal: true
         bus:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -50,7 +48,6 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          use_conservative_buffer_longitudinal: true
         trailer:
           th_moving_speed: 1.0
           th_moving_time: 2.0
@@ -61,7 +58,6 @@
             hard_margin_for_parked_vehicle: 0.7
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          use_conservative_buffer_longitudinal: true
         unknown:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -72,7 +68,6 @@
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
-          use_conservative_buffer_longitudinal: true
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -83,7 +78,6 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          use_conservative_buffer_longitudinal: true
         motorcycle:
           th_moving_speed: 1.0
           th_moving_time: 1.0
@@ -94,7 +88,6 @@
             hard_margin_for_parked_vehicle: 0.3
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          use_conservative_buffer_longitudinal: true
         pedestrian:
           th_moving_speed: 0.28
           th_moving_time: 1.0
@@ -105,7 +98,6 @@
             hard_margin_for_parked_vehicle: 0.5
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
-          use_conservative_buffer_longitudinal: true
         lower_distance_for_polygon_expansion: 30.0      # [m] FOR DEVELOPER
         upper_distance_for_polygon_expansion: 100.0     # [m] FOR DEVELOPER
 
@@ -222,6 +214,8 @@
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s] FOR DEVELOPER
           nominal_avoidance_speed: 8.33                 # [m/s] FOR DEVELOPER
+          consider_front_overhang: true                 # [-]
+          consider_rear_overhang: true                  # [-]
         # return dead line
         return_dead_line:
           goal:

diff --git a/...ng/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp b/...ng/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp
@@ -76,8 +76,6 @@ struct ObjectParameter
   double lateral_hard_margin_for_parked_vehicle{1.0};
 
   double longitudinal_margin{0.0};
-
-  bool use_conservative_buffer_longitudinal{true};
 };
 
 struct AvoidanceParameters
@@ -191,14 +189,6 @@ struct AvoidanceParameters
   double time_threshold_for_ambiguous_vehicle{0.0};
   double distance_threshold_for_ambiguous_vehicle{0.0};
 
-  // when complete avoidance motion, there is a distance margin with the object
-  // for longitudinal direction
-  double longitudinal_collision_margin_min_distance{0.0};
-
-  // when complete avoidance motion, there is a time margin with the object
-  // for longitudinal direction
-  double longitudinal_collision_margin_time{0.0};
-
   // parameters for safety check area
   bool enable_safety_check{false};
   bool check_current_lane{false};
@@ -219,6 +209,9 @@ struct AvoidanceParameters
   size_t hysteresis_factor_safe_count;
   double hysteresis_factor_expand_rate{0.0};
 
+  bool consider_front_overhang{true};
+  bool consider_rear_overhang{true};
+
   // maximum stop distance
   double stop_max_distance{0.0};
 

diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
@@ -148,16 +148,19 @@ class AvoidanceHelper
   {
     const auto object_type = utils::getHighestProbLabel(object.object.classification);
     const auto object_parameter = parameters_->object_parameters.at(object_type);
-    const auto & additional_buffer_longitudinal =
-      object_parameter.use_conservative_buffer_longitudinal ? data_->parameters.base_link2front
-                                                            : 0.0;
-    return object_parameter.longitudinal_margin + additional_buffer_longitudinal;
+    if (!parameters_->consider_front_overhang) {
+      return object_parameter.longitudinal_margin;
+    }
+    return object_parameter.longitudinal_margin + data_->parameters.base_link2front;
   }
 
   double getRearConstantDistance(const ObjectData & object) const
   {
     const auto object_type = utils::getHighestProbLabel(object.object.classification);
     const auto object_parameter = parameters_->object_parameters.at(object_type);
+    if (!parameters_->consider_rear_overhang) {
+      return object_parameter.longitudinal_margin;
+    }
     return object_parameter.longitudinal_margin + data_->parameters.base_link2rear + object.length;
   }
 

diff --git a/...ehavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/...ehavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp
@@ -70,8 +70,6 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
       param.lateral_hard_margin_for_parked_vehicle =
         getOrDeclareParameter<double>(*node, ns + "lateral_margin.hard_margin_for_parked_vehicle");
       param.longitudinal_margin = getOrDeclareParameter<double>(*node, ns + "longitudinal_margin");
-      param.use_conservative_buffer_longitudinal =
-        getOrDeclareParameter<bool>(*node, ns + "use_conservative_buffer_longitudinal");
       return param;
     };
 
@@ -270,6 +268,8 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
     p.buf_slow_down_speed = getOrDeclareParameter<double>(*node, ns + "buf_slow_down_speed");
     p.nominal_avoidance_speed =
       getOrDeclareParameter<double>(*node, ns + "nominal_avoidance_speed");
+    p.consider_front_overhang = getOrDeclareParameter<bool>(*node, ns + "consider_front_overhang");
+    p.consider_rear_overhang = getOrDeclareParameter<bool>(*node, ns + "consider_rear_overhang");
   }
 
   // avoidance maneuver (return shift dead line)

diff --git a/planning/behavior_path_avoidance_module/schema/avoidance.schema.json b/planning/behavior_path_avoidance_module/schema/avoidance.schema.json
@@ -104,11 +104,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -171,11 +166,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -238,11 +228,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -305,11 +290,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -372,11 +352,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -439,11 +414,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -506,11 +476,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -573,11 +538,6 @@
                   "type": "number",
                   "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.",
                   "default": 0.0
-                },
-                "use_conservative_buffer_longitudinal": {
-                  "type": "boolean",
-                  "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.",
-                  "default": "true"
                 }
               },
               "required": [
@@ -1150,6 +1110,16 @@
                   "type": "number",
                   "description": "Nominal avoidance speed.",
                   "default": 8.33
+                },
+                "consider_front_overhang": {
+                  "type": "boolean",
+                  "description": "Flag to consider vehicle front overhang in shift line generation logic.",
+                  "default": true
+                },
+                "consider_rear_overhang": {
+                  "type": "boolean",
+                  "description": "Flag to consider vehicle rear overhang in shift line generation logic.",
+                  "default": true
                 }
               },
               "required": [
@@ -1158,7 +1128,9 @@
                 "min_prepare_distance",
                 "min_slow_down_speed",
                 "buf_slow_down_speed",
-                "nominal_avoidance_speed"
+                "nominal_avoidance_speed",
+                "consider_front_overhang",
+                "consider_rear_overhang"
               ],
               "additionalProperties": false
             },

diff --git a/planning/behavior_path_avoidance_module/src/manager.cpp b/planning/behavior_path_avoidance_module/src/manager.cpp
@@ -59,9 +59,6 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector<rclcpp::Parame
       parameters, ns + "lateral_margin.hard_margin_for_parked_vehicle",
       config.lateral_hard_margin_for_parked_vehicle);
     updateParam<double>(parameters, ns + "longitudinal_margin", config.longitudinal_margin);
-    updateParam<bool>(
-      parameters, ns + "use_conservative_buffer_longitudinal",
-      config.use_conservative_buffer_longitudinal);
   };
 
   {
@@ -170,6 +167,8 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector<rclcpp::Parame
     updateParam<double>(parameters, ns + "min_prepare_distance", p->min_prepare_distance);
     updateParam<double>(parameters, ns + "min_slow_down_speed", p->min_slow_down_speed);
     updateParam<double>(parameters, ns + "buf_slow_down_speed", p->buf_slow_down_speed);
+    updateParam<bool>(parameters, ns + "consider_front_overhang", p->consider_front_overhang);
+    updateParam<bool>(parameters, ns + "consider_rear_overhang", p->consider_rear_overhang);
   }
 
   {