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feat(behavior_path_planner): add option for combining arc pull out paths #2669

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merged 2 commits into from
Jan 17, 2023
Merged

feat(behavior_path_planner): add option for combining arc pull out paths #2669

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b4d95d6
feat(behavior_path_planner): add option for combining arc pull out paths
kosuke55 Jan 17, 2023
18ce9af
divide_pull_out_path
kosuke55 Jan 17, 2023
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/config/pull_out/pull_out.param.yaml
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Expand Up @@ -16,6 +16,7 @@
deceleration_interval: 15.0
# geometric pull out
enable_geometric_pull_out: true
divide_pull_out_path: false
geometric_pull_out_velocity: 1.0
arc_path_interval: 1.0
lane_departure_margin: 0.2
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1 change: 1 addition & 0 deletions ..._path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_parameters.hpp
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Expand Up @@ -38,6 +38,7 @@ struct PullOutParameters
double deceleration_interval;
// geometric pull out
bool enable_geometric_pull_out;
bool divide_pull_out_path;
double geometric_pull_out_velocity;
double arc_path_interval;
double lane_departure_margin;
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -643,6 +643,7 @@ PullOutParameters BehaviorPathPlannerNode::getPullOutParam()
p.deceleration_interval = dp("deceleration_interval", 10.0);
// geometric pull out
p.enable_geometric_pull_out = dp("enable_geometric_pull_out", true);
p.divide_pull_out_path = dp("divide_pull_out_path", false);
p.geometric_pull_out_velocity = dp("geometric_pull_out_velocity", 1.0);
p.arc_path_interval = dp("arc_path_interval", 1.0);
p.lane_departure_margin = dp("lane_departure_margin", 0.2);
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12 changes: 11 additions & 1 deletion planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp
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Expand Up @@ -59,7 +59,17 @@ boost::optional<PullOutPath> GeometricPullOut::plan(Pose start_pose, Pose goal_p
return {};
}

output.partial_paths = planner_.getPaths();
if (parameters_.divide_pull_out_path) {
output.partial_paths = planner_.getPaths();
} else {
const auto partial_paths = planner_.getPaths();
auto combined_path = combineReferencePath(partial_paths.at(0), partial_paths.at(1));
// set same velocity to all points not to stop
for (auto & point : combined_path.points) {
point.point.longitudinal_velocity_mps = parameters_.geometric_pull_out_velocity;
}
output.partial_paths.push_back(combined_path);
}
output.start_pose = planner_.getArcPaths().at(0).points.back().point.pose;
output.end_pose = planner_.getArcPaths().at(1).points.back().point.pose;

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