remove calc maximum lane change length

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Oct 1, 2024 · e9cc386 · e9cc386
1 parent 775bcdb
commit e9cc386
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diff --git a/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
@@ -103,14 +103,6 @@ double calc_ego_dist_to_lanes_start(
   const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes,
   const lanelet::ConstLanelets & target_lanes);
 
-double calc_maximum_lane_change_length(
-  const double current_velocity, const LaneChangeParameters & lane_change_parameters,
-  const std::vector<double> & shift_intervals, const double max_acc);
-
-double calc_maximum_lane_change_length(
-  const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelet & current_terminal_lanelet,
-  const double max_acc);
-
 double calc_lane_changing_acceleration(
   const double initial_lane_changing_velocity, const double max_path_velocity,
   const double lane_changing_time, const double prepare_longitudinal_acc);

diff --git a/...behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/...behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp
@@ -140,58 +140,6 @@ double calc_ego_dist_to_lanes_start(
   return motion_utils::calcSignedArcLength(path.points, ego_position, target_front_pt);
 }
 
-double calc_maximum_lane_change_length(
-  const double current_velocity, const LaneChangeParameters & lane_change_parameters,
-  const std::vector<double> & shift_intervals, const double max_acc)
-{
-  if (shift_intervals.empty()) {
-    return 0.0;
-  }
-
-  const auto finish_judge_buffer = lane_change_parameters.lane_change_finish_judge_buffer;
-  const auto lat_jerk = lane_change_parameters.lane_changing_lateral_jerk;
-  const auto t_prepare = lane_change_parameters.lane_change_prepare_duration;
-
-  auto vel = current_velocity;
-
-  const auto calc_sum = [&](double sum, double shift_interval) {
-    // prepare section
-    const auto prepare_length = vel * t_prepare + 0.5 * max_acc * t_prepare * t_prepare;
-    vel = vel + max_acc * t_prepare;
-
-    // lane changing section
-    const auto [min_lat_acc, max_lat_acc] =
-      lane_change_parameters.lane_change_lat_acc_map.find(vel);
-    const auto t_lane_changing =
-      PathShifter::calcShiftTimeFromJerk(shift_interval, lat_jerk, max_lat_acc);
-    const auto lane_changing_length =
-      vel * t_lane_changing + 0.5 * max_acc * t_lane_changing * t_lane_changing;
-
-    vel = vel + max_acc * t_lane_changing;
-    return sum + (prepare_length + lane_changing_length + finish_judge_buffer);
-  };
-
-  const auto total_length =
-    std::accumulate(shift_intervals.begin(), shift_intervals.end(), 0.0, calc_sum);
-
-  const auto backward_buffer = lane_change_parameters.backward_length_buffer_for_end_of_lane;
-  return total_length + backward_buffer * (static_cast<double>(shift_intervals.size()) - 1.0);
-}
-
-double calc_maximum_lane_change_length(
-  const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelet & current_terminal_lanelet,
-  const double max_acc)
-{
-  const auto shift_intervals =
-    common_data_ptr->route_handler_ptr->getLateralIntervalsToPreferredLane(
-      current_terminal_lanelet);
-  const auto vel = std::max(
-    common_data_ptr->get_ego_speed(),
-    common_data_ptr->lc_param_ptr->minimum_lane_changing_velocity);
-  return calc_maximum_lane_change_length(
-    vel, *common_data_ptr->lc_param_ptr, shift_intervals, max_acc);
-}
-
 std::vector<double> calc_all_min_lc_lengths(
   const LCParamPtr & lc_param_ptr, const std::vector<double> & shift_intervals)
 {