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fix(avoidance): consider avoidance prepare distance
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Signed-off-by: satoshi-ota <[email protected]>
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@satoshi-ota
satoshi-ota committed Nov 16, 2023
1 parent d23b8b3 commit f7d6c26
Showing 1 changed file with 35 additions and 34 deletions.
69 changes: 35 additions & 34 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -907,8 +907,8 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
const auto & base_link2rear = planner_data_->parameters.base_link2rear;

// Calculate feasible shift length
const auto get_shift_length =
[&](auto & object, const auto & desire_shift_length) -> boost::optional<double> {
const auto get_shift_profile = [&](auto & object, const auto & desire_shift_length)
-> boost::optional<std::pair<double, double>> {
// use each object param
const auto object_type = utils::getHighestProbLabel(object.object.classification);
const auto object_parameter = parameters_->object_parameters.at(object_type);
Expand All @@ -918,44 +918,51 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
const auto avoiding_shift = desire_shift_length - current_ego_shift;
const auto nominal_avoid_distance = helper_.getMaxAvoidanceDistance(avoiding_shift);

// calculate remaining distance.
const auto prepare_distance = helper_.getNominalPrepareDistance();
const auto & additional_buffer_longitudinal =
object_parameter.use_conservative_buffer_longitudinal
? planner_data_->parameters.base_link2front
: 0.0;
const auto constant = object_parameter.safety_buffer_longitudinal +
additional_buffer_longitudinal + prepare_distance;
const auto has_enough_distance = object.longitudinal > constant + nominal_avoid_distance;
const auto remaining_distance = object.longitudinal - constant;
const auto avoidance_distance =
has_enough_distance ? nominal_avoid_distance : remaining_distance;

// nominal case. avoidable.
if (has_enough_distance) {
return std::make_pair(desire_shift_length, avoidance_distance);
}

if (!isBestEffort(parameters_->policy_lateral_margin)) {
return desire_shift_length;
return std::make_pair(desire_shift_length, avoidance_distance);
}

// ego already has enough positive shift.
const auto has_enough_positive_shift = avoiding_shift < -1e-3 && desire_shift_length > 1e-3;
if (is_object_on_right && has_enough_positive_shift) {
return desire_shift_length;
return std::make_pair(desire_shift_length, avoidance_distance);
}

// ego already has enough negative shift.
const auto has_enough_negative_shift = avoiding_shift > 1e-3 && desire_shift_length < -1e-3;
if (!is_object_on_right && has_enough_negative_shift) {
return desire_shift_length;
return std::make_pair(desire_shift_length, avoidance_distance);
}

// don't relax shift length since it can stop in front of the object.
if (object.is_stoppable && !parameters_->use_shorten_margin_immediately) {
return desire_shift_length;
return std::make_pair(desire_shift_length, avoidance_distance);
}

// calculate remaining distance.
const auto prepare_distance = helper_.getNominalPrepareDistance();
const auto & additional_buffer_longitudinal =
object_parameter.use_conservative_buffer_longitudinal
? planner_data_->parameters.base_link2front
: 0.0;
const auto constant = object_parameter.safety_buffer_longitudinal +
additional_buffer_longitudinal + prepare_distance;
const auto has_enough_distance = object.longitudinal > constant + nominal_avoid_distance;
const auto remaining_distance = object.longitudinal - constant;

// the avoidance path is already approved
const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position;
const auto is_approved = (helper_.getShift(object_pos) > 0.0 && is_object_on_right) ||
(helper_.getShift(object_pos) < 0.0 && !is_object_on_right);
if (is_approved) {
return desire_shift_length;
return std::make_pair(desire_shift_length, avoidance_distance);
}

// prepare distance is not enough. unavoidable.
Expand All @@ -964,18 +971,13 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
return boost::none;
}

// nominal case. avoidable.
if (has_enough_distance) {
return desire_shift_length;
}

// calculate lateral jerk.
const auto required_jerk = PathShifter::calcJerkFromLatLonDistance(
avoiding_shift, remaining_distance, helper_.getAvoidanceEgoSpeed());

// relax lateral jerk limit. avoidable.
if (required_jerk < helper_.getLateralMaxJerkLimit()) {
return desire_shift_length;
return std::make_pair(desire_shift_length, avoidance_distance);
}

// avoidance distance is not enough. unavoidable.
Expand Down Expand Up @@ -1013,7 +1015,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
std::abs(avoiding_shift), feasible_relative_shift_length);
}

return feasible_shift_length;
return std::make_pair(feasible_shift_length, avoidance_distance);
};

const auto is_forward_object = [](const auto & object) { return object.longitudinal > 0.0; };
Expand Down Expand Up @@ -1048,9 +1050,9 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
// use each object param
const auto object_type = utils::getHighestProbLabel(o.object.classification);
const auto object_parameter = parameters_->object_parameters.at(object_type);
const auto feasible_shift_length = get_shift_length(o, desire_shift_length);
const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length);

if (!feasible_shift_length) {
if (!feasible_shift_profile) {
if (o.avoid_required && is_forward_object(o)) {
break;
} else {
Expand All @@ -1059,10 +1061,8 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
}

// use absolute dist for return-to-center, relative dist from current for avoiding.
const auto feasible_avoid_distance =
helper_.getMaxAvoidanceDistance(feasible_shift_length.get() - current_ego_shift);
const auto feasible_return_distance =
helper_.getMaxAvoidanceDistance(feasible_shift_length.get());
helper_.getMaxAvoidanceDistance(feasible_shift_profile.get().first);

AvoidLine al_avoid;
{
Expand All @@ -1078,14 +1078,15 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(

// start point (use previous linear shift length as start shift length.)
al_avoid.start_longitudinal = [&]() {
const auto nearest_avoid_distance = std::max(to_shift_end - feasible_avoid_distance, 1e-3);
const auto nearest_avoid_distance =
std::max(to_shift_end - feasible_shift_profile.get().second, 1e-3);

if (data.to_start_point > to_shift_end) {
return nearest_avoid_distance;
}

const auto minimum_avoid_distance =
helper_.getMinAvoidanceDistance(feasible_shift_length.get() - current_ego_shift);
helper_.getMinAvoidanceDistance(feasible_shift_profile.get().first - current_ego_shift);
const auto furthest_avoid_distance = std::max(to_shift_end - minimum_avoid_distance, 1e-3);

return std::clamp(data.to_start_point, nearest_avoid_distance, furthest_avoid_distance);
Expand All @@ -1097,7 +1098,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
al_avoid.start_shift_length = helper_.getLinearShift(al_avoid.start.position);

// end point
al_avoid.end_shift_length = feasible_shift_length.get();
al_avoid.end_shift_length = feasible_shift_profile.get().first;
al_avoid.end_longitudinal = to_shift_end;

// misc
Expand All @@ -1112,7 +1113,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
const auto to_shift_start = o.longitudinal + offset;

// start point
al_return.start_shift_length = feasible_shift_length.get();
al_return.start_shift_length = feasible_shift_profile.get().first;
al_return.start_longitudinal = to_shift_start;

// end point
Expand Down

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