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feat(behavior_path_planner): add avoid_margin for over distance case #2198

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merged 3 commits into from
Nov 22, 2022
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feat(behavior_path_planner): add avoid_margin for over distance case #2198

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e36141c
add avoid margin for over distance case
Oct 24, 2022
09831fd
ci(pre-commit): autofix
pre-commit-ci[bot] Nov 2, 2022
cbaab34
fix: let avoid_margin vary between min and max value
mehmetdogru Nov 21, 2022
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16 changes: 11 additions & 5 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -559,8 +559,7 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(const ObjectDataArr
const auto & vehicle_width = planner_data_->parameters.vehicle_width;
const auto & road_shoulder_safety_margin = parameters_->road_shoulder_safety_margin;

const auto avoid_margin =
lat_collision_safety_buffer + lat_collision_margin + 0.5 * vehicle_width;
auto avoid_margin = lat_collision_safety_buffer + lat_collision_margin + 0.5 * vehicle_width;

AvoidLineArray avoid_lines;
std::vector<AvoidanceDebugMsg> avoidance_debug_msg_array;
Expand All @@ -583,9 +582,16 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(const ObjectDataArr
avoidance_debug_msg.to_furthest_linestring_distance = o.to_road_shoulder_distance;
avoidance_debug_msg.max_shift_length = max_allowable_lateral_distance;

if (max_allowable_lateral_distance <= avoid_margin) {
avoidance_debug_array_false_and_push_back(AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN);
continue;
auto const min_safety_lateral_distance = lat_collision_safety_buffer + 0.5 * vehicle_width;

if (max_allowable_lateral_distance < avoid_margin) {
if (max_allowable_lateral_distance >= min_safety_lateral_distance) {
avoid_margin = max_allowable_lateral_distance;
} else {
avoidance_debug_array_false_and_push_back(
AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN);
continue;
}
}

const auto is_object_on_right = isOnRight(o);
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