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fix(behavior_velocity_planner): fix rtc in crosswalk module #1273

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merged 3 commits into from
Jul 8, 2022
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fix(behavior_velocity_planner): fix rtc in crosswalk module #1273

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c852b45
fix(behavior_velocity_planner): fix rtc in crosswalk module
satoshi-ota Jul 7, 2022
8e4cf54
fix(behavior_velocity_planner): set distance in insert function
satoshi-ota Jul 7, 2022
5852ec7
fix(behavior_velocity_planner): update activated hehavior
satoshi-ota Jul 8, 2022
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3 changes: 3 additions & 0 deletions planning/behavior_velocity_planner/include/scene_module/crosswalk/scene_crosswalk.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,9 @@ class CrosswalkModule : public SceneModuleInterface
private:
int64_t module_id_;

boost::optional<std::pair<size_t, PathPointWithLaneId>> findRTCStopPoint(
const PathWithLaneId & ego_path);

boost::optional<std::pair<size_t, PathPointWithLaneId>> findNearestStopPoint(
const PathWithLaneId & ego_path, StopReason & stop_reason);

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35 changes: 33 additions & 2 deletions planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -355,19 +355,22 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
stop_watch_.toc("total_processing_time", false));

const auto nearest_stop_point = findNearestStopPoint(ego_path, *stop_reason);
const auto rtc_stop_point = findRTCStopPoint(ego_path);

RCLCPP_INFO_EXPRESSION(
logger_, planner_param_.show_processing_time, "- step3: %f ms",
stop_watch_.toc("total_processing_time", false));

setSafe(!nearest_stop_point);

if (!nearest_stop_point) {
if (isActivated()) {
return true;
}

if (!isActivated()) {
if (nearest_stop_point) {
insertDecelPoint(nearest_stop_point.get(), *path);
} else if (rtc_stop_point) {
insertDecelPoint(rtc_stop_point.get(), *path);
}

RCLCPP_INFO_EXPRESSION(
Expand Down Expand Up @@ -406,6 +409,30 @@ boost::optional<std::pair<double, geometry_msgs::msg::Point>> CrosswalkModule::g
return {};
}

boost::optional<std::pair<size_t, PathPointWithLaneId>> CrosswalkModule::findRTCStopPoint(
const PathWithLaneId & ego_path)
{
const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m;
const auto & ego_pos = planner_data_->current_pose.pose.position;

const auto p_stop_line = getStopLine(ego_path);
if (!p_stop_line) {
return {};
}

const auto & p_stop = p_stop_line.get().second;
const auto & margin = planner_param_.stop_line_distance;

const size_t base_idx = findNearestSegmentIndex(ego_path.points, p_stop);
const auto residual_length = calcLongitudinalOffsetToSegment(ego_path.points, base_idx, p_stop);
const auto update_margin = margin - residual_length + base_link2front;

setDistance(
std::abs(calcSignedArcLength(ego_path.points, ego_pos, p_stop) - margin - base_link2front));
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It overwrites the distance set in findNearestStopPoint() because findRTCStopPoint() is called after findNearestStopPoint().
Could you set distance in insertDecelPoint(), for example?

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Oh, ok 👍 I'll fix it.

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Fix in 8e4cf54.

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Update in 5852ec7


return getBackwardInsertPointFromBasePoint(base_idx, ego_path, update_margin);
}

boost::optional<std::pair<size_t, PathPointWithLaneId>> CrosswalkModule::findNearestStopPoint(
const PathWithLaneId & ego_path, StopReason & stop_reason)
{
Expand Down Expand Up @@ -617,6 +644,10 @@ void CrosswalkModule::insertDecelPoint(
float CrosswalkModule::calcTargetVelocity(
const PathPointWithLaneId & stop_point, const PathWithLaneId & ego_path) const
{
if (!isActivated()) {
return 0.0;
}

if (isTargetExternalInputStatus(CrosswalkStatus::SLOWDOWN)) {
return planner_param_.slow_velocity;
}
Expand Down