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fix(behavior_velocity_planner): sort unique_lane_ids for merge_from_private_area #1323

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merged 7 commits into from
Jul 13, 2022
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fix(behavior_velocity_planner): sort unique_lane_ids for merge_from_private_area #1323

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48664c8
fix(behavior_velocity_planner): sort unique_lane_ids for merge_from_p…
tkimura4 Jul 12, 2022
4eddeac
use same function
tkimura4 Jul 12, 2022
eddc789
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tkimura4 Jul 12, 2022
b725fd3
fix
tkimura4 Jul 13, 2022
c93f9d8
Merge branch 'fix/merge_from_private_area' of github.com:tier4/autowa…
tkimura4 Jul 13, 2022
628606c
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tkimura4 Jul 13, 2022
cdcbea6
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tkimura4 Jul 13, 2022
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30 changes: 22 additions & 8 deletions planning/behavior_velocity_planner/src/utilization/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -597,7 +597,7 @@ std::vector<lanelet::ConstLanelet> getLaneletsOnPath(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const lanelet::LaneletMapPtr lanelet_map, const geometry_msgs::msg::Pose & current_pose)
{
std::set<int64_t> unique_lane_ids;
std::vector<int64_t> unique_lane_ids;
auto nearest_segment_idx = tier4_autoware_utils::findNearestSegmentIndex(
path.points, current_pose, std::numeric_limits<double>::max(), M_PI_2);

Expand All @@ -608,19 +608,33 @@ std::vector<lanelet::ConstLanelet> getLaneletsOnPath(
lanelet::utils::query::laneletLayer(lanelet_map), current_pose, &current_lanes) &&
nearest_segment_idx) {
for (const auto & ll : current_lanes) {
if (
ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0) ||
ll.id() == path.points.at(*nearest_segment_idx + 1).lane_ids.at(0)) {
unique_lane_ids.insert(ll.id());
if (ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0)) {
unique_lane_ids.emplace_back(ll.id());
break;
}
}

// if the lane_id of nearest_segment_idx does not involved in current_lanes,
// search the lane_id of nearest_segment_idx + 1
if (unique_lane_ids.empty()) {
*nearest_segment_idx += 1;
for (const auto & ll : current_lanes) {
if (ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0)) {
unique_lane_ids.emplace_back(ll.id());
break;
}
}
}
}

// Add forward path lane_id
const size_t start_idx = *nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
const size_t start_idx = nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
for (size_t i = start_idx; i < path.points.size(); i++) {
unique_lane_ids.insert(
path.points.at(i).lane_ids.at(0)); // should we iterate ids? keep as it was.
const int64_t lane_id = path.points.at(i).lane_ids.at(0);
if (
std::find(unique_lane_ids.begin(), unique_lane_ids.end(), lane_id) == unique_lane_ids.end()) {
unique_lane_ids.emplace_back(lane_id);
}
}

std::vector<lanelet::ConstLanelet> lanelets;
Expand Down