refactor(lane_change): rename prepare_segment_ignore_object_velocity_…

…thresh (#8532) change parameter name for more expressive name Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Aug 21, 2024 · 52c558d · 52c558d
1 parent 1cb1863
commit 52c558d
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Showing 5 changed files with 13 additions and 14 deletions.
diff --git a/...vior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/...vior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml
@@ -106,7 +106,7 @@
         general_lanes: false
         intersection: true
         turns: true
-      prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
+      stopped_object_velocity_threshold: 1.0 # [m/s]
       check_objects_on_current_lanes: true
       check_objects_on_other_lanes: true
       use_all_predicted_path: true

diff --git a/...ne_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/...ne_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
@@ -131,7 +131,7 @@ struct Parameters
   bool enable_collision_check_for_prepare_phase_in_general_lanes{false};
   bool enable_collision_check_for_prepare_phase_in_intersection{true};
   bool enable_collision_check_for_prepare_phase_in_turns{true};
-  double prepare_segment_ignore_object_velocity_thresh{0.1};
+  double stopped_object_velocity_threshold{0.1};
   bool check_objects_on_current_lanes{true};
   bool check_objects_on_other_lanes{true};
   bool use_all_predicted_path{false};

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
@@ -74,8 +74,8 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node)
     *node, parameter("enable_collision_check_for_prepare_phase.intersection"));
   p.enable_collision_check_for_prepare_phase_in_turns =
     getOrDeclareParameter<bool>(*node, parameter("enable_collision_check_for_prepare_phase.turns"));
-  p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter<double>(
-    *node, parameter("prepare_segment_ignore_object_velocity_thresh"));
+  p.stopped_object_velocity_threshold =
+    getOrDeclareParameter<double>(*node, parameter("stopped_object_velocity_threshold"));
   p.check_objects_on_current_lanes =
     getOrDeclareParameter<bool>(*node, parameter("check_objects_on_current_lanes"));
   p.check_objects_on_other_lanes =

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -422,7 +422,7 @@ void NormalLaneChange::insertStopPoint(
     for (const auto & object : target_objects.current_lane) {
       // check if stationary
       const auto obj_v = std::abs(object.initial_twist.twist.linear.x);
-      if (obj_v > lane_change_parameters_->stop_velocity_threshold) {
+      if (obj_v > lane_change_parameters_->stopped_object_velocity_threshold) {
         continue;
       }
 
@@ -476,7 +476,7 @@ void NormalLaneChange::insertStopPoint(
       target_objects.target_lane_leading.begin(), target_objects.target_lane_leading.end(),
       [&](const auto & o) {
         const auto v = std::abs(o.initial_twist.twist.linear.x);
-        if (v > lane_change_parameters_->stop_velocity_threshold) {
+        if (v > lane_change_parameters_->stopped_object_velocity_threshold) {
           return false;
         }
 
@@ -1216,7 +1216,8 @@ FilteredByLanesObjects NormalLaneChange::filterObjectsByLanelets(
       is_before_terminal()) {
       const auto ahead_of_ego =
         utils::lane_change::is_ahead_of_ego(common_data_ptr_, current_lanes_ref_path, object);
-      constexpr double stopped_obj_vel_th = 1.0;
+      const auto stopped_obj_vel_th =
+        common_data_ptr_->lc_param_ptr->stopped_object_velocity_threshold;
       if (object.kinematics.initial_twist_with_covariance.twist.linear.x < stopped_obj_vel_th) {
         if (ahead_of_ego) {
           target_lane_leading_objects.push_back(object);
@@ -2157,11 +2158,10 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe(
     const auto obj_predicted_paths = utils::path_safety_checker::getPredictedPathFromObj(
       obj, lane_change_parameters_->use_all_predicted_path);
     auto is_safe = true;
-    const auto selected_rss_param =
-      (obj.initial_twist.twist.linear.x <=
-       lane_change_parameters_->prepare_segment_ignore_object_velocity_thresh)
-        ? lane_change_parameters_->rss_params_for_parked
-        : rss_params;
+    const auto selected_rss_param = (obj.initial_twist.twist.linear.x <=
+                                     lane_change_parameters_->stopped_object_velocity_threshold)
+                                      ? lane_change_parameters_->rss_params_for_parked
+                                      : rss_params;
     for (const auto & obj_path : obj_predicted_paths) {
       const auto collided_polygons = utils::path_safety_checker::getCollidedPolygons(
         path, ego_predicted_path, obj, obj_path, common_parameters, selected_rss_param, 1.0,

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -1092,8 +1092,7 @@ ExtendedPredictedObject transform(
 
   const auto & time_resolution = lane_change_parameters.prediction_time_resolution;
   const auto & prepare_duration = lane_change_parameters.lane_change_prepare_duration;
-  const auto & velocity_threshold =
-    lane_change_parameters.prepare_segment_ignore_object_velocity_thresh;
+  const auto & velocity_threshold = lane_change_parameters.stopped_object_velocity_threshold;
   const auto start_time = check_at_prepare_phase ? 0.0 : prepare_duration;
   const double obj_vel_norm = std::hypot(
     extended_object.initial_twist.twist.linear.x, extended_object.initial_twist.twist.linear.y);