Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(avoidance): don't insert stop line if the ego can't avoid or return (#9089) #1592

Merged
merged 2 commits into from
Oct 21, 2024
Merged

fix(avoidance): don't insert stop line if the ego can't avoid or return (#9089) #1592

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0ea526a
fix(avoidance): don't insert stop line if the ego can't avoid or retu…
satoshi-ota Oct 17, 2024
62a94ec
fix: build error
satoshi-ota Oct 18, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 13 additions & 0 deletions planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -312,6 +312,19 @@ class AvoidanceHelper
});
}

bool isFeasible(const AvoidLineArray & shift_lines) const
{
constexpr double JERK_BUFFER = 0.1; // [m/sss]
const auto & values = parameters_->velocity_map;
const auto idx = getConstraintsMapIndex(0.0, values); // use minimum avoidance speed
const auto jerk_limit = parameters_->lateral_max_jerk_map.at(idx);
return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) {
return PathShifter::calcJerkFromLatLonDistance(
line.getRelativeLength(), line.getRelativeLongitudinal(), values.at(idx)) <
jerk_limit + JERK_BUFFER;
});
}

bool isReady(const ObjectDataArray & objects) const
{
if (objects.empty()) {
Expand Down
19 changes: 19 additions & 0 deletions planning/behavior_path_avoidance_module/src/scene.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1505,6 +1505,11 @@ void AvoidanceModule::insertReturnDeadLine(
{
const auto & data = avoid_data_;

if (data.new_shift_line.empty()) {
RCLCPP_WARN(getLogger(), "module doesn't have return shift line.");
return;
}

if (data.to_return_point > planner_data_->parameters.forward_path_length) {
RCLCPP_DEBUG(getLogger(), "return dead line is far enough.");
return;
Expand All @@ -1517,6 +1522,11 @@ void AvoidanceModule::insertReturnDeadLine(
return;
}

if (!helper_->isFeasible(data.new_shift_line)) {
RCLCPP_WARN(getLogger(), "return shift line is not feasible. do nothing..");
return;
}

// Consider the difference in path length between the shifted path and original path (the path
// that is shifted inward has a shorter distance to the end of the path than the other one.)
const auto & to_reference_path_end = data.arclength_from_ego.back();
Expand All @@ -1527,6 +1537,10 @@ void AvoidanceModule::insertReturnDeadLine(
const auto min_return_distance =
helper_->getMinAvoidanceDistance(shift_length) + helper_->getMinimumPrepareDistance();
const auto to_stop_line = data.to_return_point - min_return_distance - buffer;
if (to_stop_line < 0.0) {
RCLCPP_WARN(getLogger(), "ego overran return shift dead line. do nothing.");
return;
}

// If we don't need to consider deceleration constraints, insert a deceleration point
// and return immediately
Expand Down Expand Up @@ -1594,6 +1608,11 @@ void AvoidanceModule::insertWaitPoint(
return;
}

if (data.to_stop_line < 0.0) {
RCLCPP_WARN(getLogger(), "ego overran avoidance dead line. do nothing.");
return;
}

// If we don't need to consider deceleration constraints, insert a deceleration point
// and return immediately
if (!use_constraints_for_decel) {
Expand Down
Loading