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feat(intersection): add param for stuck stopline overshoot margin #2756

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merged 1 commit into from
Jan 27, 2023
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feat(intersection): add param for stuck stopline overshoot margin #2756

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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/config/intersection.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck
assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
enable_front_car_decel_prediction: false # By default this feature is disabled
stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collsion detection

merge_from_private_road:
stop_duration_sec: 1.0
1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
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Expand Up @@ -93,6 +93,7 @@ class IntersectionModule : public SceneModuleInterface
double
assumed_front_car_decel; //! the expected deceleration of front car when front car as well
bool enable_front_car_decel_prediction; //! flag for using above feature
double stop_overshoot_margin; //! overshoot margin for stuck, collsion detection
};

IntersectionModule(
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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/src/scene_module/intersection/manager.cpp
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Expand Up @@ -69,6 +69,7 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
ip.assumed_front_car_decel = node.declare_parameter(ns + ".assumed_front_car_decel", 1.0);
ip.enable_front_car_decel_prediction =
node.declare_parameter(ns + ".enable_front_car_decel_prediction", false);
ip.stop_overshoot_margin = node.declare_parameter(ns + ".stop_overshoot_margin", 0.5);
}

MergeFromPrivateModuleManager::MergeFromPrivateModuleManager(rclcpp::Node & node)
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3 changes: 1 addition & 2 deletions planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
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Expand Up @@ -202,10 +202,9 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
const double dist_stuck_stopline = motion_utils::calcSignedArcLength(
path->points, path->points.at(stuck_line_idx).point.pose.position,
path->points.at(closest_idx).point.pose.position);
const double eps = 1e-1; // NOTE: check if sufficiently over the stuck stopline
const bool is_over_stuck_stopline =
util::isOverTargetIndex(*path, closest_idx, current_pose, stuck_line_idx) &&
dist_stuck_stopline > eps;
dist_stuck_stopline > planner_param_.stop_overshoot_margin;
if (is_stuck && !is_over_stuck_stopline) {
stop_line_idx_final = stuck_line_idx;
pass_judge_line_idx_final = stuck_line_idx;
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