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feat(blind_spot): relax stop condition for predicted objects #2279

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Nov 14, 2022
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feat(blind_spot): relax stop condition for predicted objects #2279

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22 changes: 10 additions & 12 deletions planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -391,7 +391,7 @@ bool BlindSpotModule::checkObstacleInBlindSpot(
to_bg2d(object.kinematics.initial_pose_with_covariance.pose.position),
lanelet::utils::to2D(areas_opt.get().detection_area));
bool exist_in_conflict_area = isPredictedPathInArea(object, areas_opt.get().conflict_area);
if (exist_in_detection_area && exist_in_conflict_area) {
if (exist_in_detection_area || exist_in_conflict_area) {
obstacle_detected = true;
debug_data_.conflicting_targets.objects.push_back(object);
}
Expand All @@ -406,17 +406,15 @@ bool BlindSpotModule::isPredictedPathInArea(
const autoware_auto_perception_msgs::msg::PredictedObject & object,
const lanelet::CompoundPolygon3d & area) const
{
bool exist_in_conflict_area = false;
for (const auto & predicted_path : object.kinematics.predicted_paths) {
for (const auto & predicted_point : predicted_path.path) {
exist_in_conflict_area =
bg::within(to_bg2d(predicted_point.position), lanelet::utils::to2D(area));
if (exist_in_conflict_area) {
return true;
}
}
}
return false;
const auto area_2d = lanelet::utils::to2D(area);
// NOTE: iterating all paths including those of low confidence
return std::any_of(
object.kinematics.predicted_paths.begin(), object.kinematics.predicted_paths.end(),
[&area_2d](const auto & path) {
return std::any_of(path.path.begin(), path.path.end(), [&area_2d](const auto & point) {
return bg::within(to_bg2d(point.position), area_2d);
});
});
}

lanelet::ConstLanelet BlindSpotModule::generateHalfLanelet(
Expand Down