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fix(lane_change): fix terminal stop distance #5392

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merged 3 commits into from
Oct 25, 2023
Merged

fix(lane_change): fix terminal stop distance #5392

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4ca48aa
fix(lane_change): fix terminal stop distance
kosuke55 Oct 24, 2023
d804f4d
make current lanes include path front id
kosuke55 Oct 24, 2023
6c74b58
fixup! make current lanes include path front id
kosuke55 Oct 24, 2023
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19 changes: 17 additions & 2 deletions planning/behavior_path_planner/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3067,9 +3067,24 @@ lanelet::ConstLanelets getCurrentLanesFromPath(

lanelet::ConstLanelet current_lane;
lanelet::utils::query::getClosestLanelet(reference_lanes, current_pose, &current_lane);

return route_handler->getLaneletSequence(
auto current_lanes = route_handler->getLaneletSequence(
current_lane, current_pose, p.backward_path_length, p.forward_path_length);

// Extend the 'current_lanes' with previous lanes until it contains 'front_lane_ids'.
const auto front_lane_ids = path.points.front().lane_ids;
auto have_front_lanes = [front_lane_ids](const auto & lanes) {
return std::any_of(lanes.begin(), lanes.end(), [&](const auto & lane) {
return std::find(front_lane_ids.begin(), front_lane_ids.end(), lane.id()) !=
front_lane_ids.end();
});
};
while (!have_front_lanes(current_lanes)) {
const auto extended_lanes = extendPrevLane(route_handler, current_lanes);
if (extended_lanes.size() == current_lanes.size()) break;
current_lanes = extended_lanes;
}

return current_lanes;
}

lanelet::ConstLanelets extendNextLane(
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