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feat(map_based_prediction): update lane change decision logic #2822

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merged 11 commits into from
Feb 16, 2023
Merged

feat(map_based_prediction): update lane change decision logic #2822

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a830999
update lane change decision logic
YoshiRi Feb 5, 2023
b6a8337
hold lateral kinematics of each lanelet in objdata
YoshiRi Feb 9, 2023
7e640b4
calc lateral_kinematics in objecthistory creation
YoshiRi Feb 9, 2023
4625664
using lateral kinematics in LC decision
YoshiRi Feb 9, 2023
9a697ef
fix left/right typo
YoshiRi Feb 9, 2023
5a9c234
avoid zero division
YoshiRi Feb 9, 2023
08bd8b8
Fixed lose reference bug
YoshiRi Feb 13, 2023
59dc3ce
refactor some comments and processes
YoshiRi Feb 14, 2023
e746228
update rosparam config file and declaration
YoshiRi Feb 15, 2023
75c2da0
add cutoff freq usage
YoshiRi Feb 15, 2023
a975dfd
use map to handle lateral kinematics
YoshiRi Feb 15, 2023
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7 changes: 3 additions & 4 deletions perception/map_based_prediction/config/map_based_prediction.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,7 @@
sigma_yaw_angle_deg: 5.0 #[angle degree]
object_buffer_time_length: 2.0 #[s]
history_time_length: 1.0 #[s]
dist_ratio_threshold_to_left_bound: -0.5 #[ratio]
dist_ratio_threshold_to_right_bound: 0.5 #[ratio
diff_dist_threshold_to_left_bound: 0.29 #[m]
diff_dist_threshold_to_right_bound: -0.29 #[m]
dist_threshold_for_lane_change_detection: 1.0 #[m]
time_threshold_for_lane_change_detection: 5.0 #[s]
cutoff_freq_of_velocity_for_lane_change_detection: 0.1 #[Hz]
reference_path_resolution: 0.5 #[m]
19 changes: 15 additions & 4 deletions perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,16 @@

namespace map_based_prediction
{
struct LateralKinematicsToLanelet
{
double dist_from_left_boundary;
double dist_from_right_boundary;
double left_lateral_velocity;
double right_lateral_velocity;
double filtered_left_lateral_velocity;
double filtered_right_lateral_velocity;
};

struct ObjectData
{
std_msgs::msg::Header header;
Expand All @@ -57,6 +67,8 @@ struct ObjectData
geometry_msgs::msg::Pose pose;
geometry_msgs::msg::Twist twist;
double time_delay;
// for lane change prediction
std::unordered_map<lanelet::ConstLanelet, LateralKinematicsToLanelet> lateral_kinematics_set;
};

enum class Maneuver {
Expand Down Expand Up @@ -133,10 +145,9 @@ class MapBasedPredictionNode : public rclcpp::Node
double sigma_yaw_angle_deg_;
double object_buffer_time_length_;
double history_time_length_;
double dist_ratio_threshold_to_left_bound_;
double dist_ratio_threshold_to_right_bound_;
double diff_dist_threshold_to_left_bound_;
double diff_dist_threshold_to_right_bound_;
double dist_threshold_to_bound_;
double time_threshold_to_bound_;
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double cutoff_freq_of_velocity_lpf_;
double reference_path_resolution_;

// Stop watch
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