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fix(lane_change): remove velocity factor #1741

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Dec 26, 2024
Merged

fix(lane_change): remove velocity factor #1741

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31 changes: 0 additions & 31 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,6 @@ LaneChangeInterface::LaneChangeInterface(
{
module_type_->setTimeKeeper(getTimeKeeper());
logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr());
steering_factor_interface_.init(PlanningBehavior::LANE_CHANGE);
velocity_factor_interface_.init(PlanningBehavior::LANE_CHANGE);
}

void LaneChangeInterface::processOnExit()
Expand Down Expand Up @@ -153,8 +151,6 @@ BehaviorModuleOutput LaneChangeInterface::plan()

set_longitudinal_planning_factor(output.path);

setVelocityFactor(output.path);

return output;
}

Expand Down Expand Up @@ -193,8 +189,6 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()

set_longitudinal_planning_factor(out.path);

setVelocityFactor(out.path);

return out;
}

Expand Down Expand Up @@ -421,15 +415,6 @@ MarkerArray LaneChangeInterface::getModuleVirtualWall()
void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & output)
{
universe_utils::ScopedTimeTrack st(__func__, *getTimeKeeper());
const auto steering_factor_direction = std::invoke([&]() {
if (module_type_->getDirection() == Direction::LEFT) {
return SteeringFactor::LEFT;
}
if (module_type_->getDirection() == Direction::RIGHT) {
return SteeringFactor::RIGHT;
}
return SteeringFactor::UNKNOWN;
});

const auto current_position = module_type_->getEgoPosition();
const auto status = module_type_->getLaneChangeStatus();
Expand All @@ -438,10 +423,6 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o
const auto finish_distance = autoware::motion_utils::calcSignedArcLength(
output.path.points, current_position, status.lane_change_path.info.shift_line.end.position);

steering_factor_interface_.set(
{status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end},
{start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, "");

const auto planning_factor_direction = std::invoke([&]() {
if (module_type_->getDirection() == Direction::LEFT) {
return PlanningFactor::SHIFT_LEFT;
Expand All @@ -460,18 +441,6 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o
void LaneChangeInterface::updateSteeringFactorPtr(
const CandidateOutput & output, const LaneChangePath & selected_path) const
{
const uint16_t steering_factor_direction = std::invoke([&output]() {
if (output.lateral_shift > 0.0) {
return SteeringFactor::LEFT;
}
return SteeringFactor::RIGHT;
});

steering_factor_interface_.set(
{selected_path.info.shift_line.start, selected_path.info.shift_line.end},
{output.start_distance_to_path_change, output.finish_distance_to_path_change},
steering_factor_direction, SteeringFactor::APPROACHING, "");

const uint16_t planning_factor_direction = std::invoke([&output]() {
if (output.lateral_shift > 0.0) {
return PlanningFactor::SHIFT_LEFT;
Expand Down
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