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feat(obstacle_stop_planner): add margin behind goal #2953

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Feb 27, 2023
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feat(obstacle_stop_planner): add margin behind goal #2953

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bdbd3f2
feat(obstacle_stop_planner): add margin behind goal
kosuke55 Feb 27, 2023
0007f76
refactor: just compare end index
kosuke55 Feb 27, 2023
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11 changes: 6 additions & 5 deletions planning/obstacle_stop_planner/README.md
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Expand Up @@ -89,11 +89,12 @@ This module has parameter `hold_stop_margin_distance` in order to prevent from t

#### Stop position

| Parameter | Type | Description |
| --------------------------- | ------ | ---------------------------------------------------------------------------------------------------------------------------------------------- |
| `max_longitudinal_margin` | double | margin between obstacle and the ego's front [m] |
| `min_longitudinal_margin` | double | if any obstacle exists within `max_longitudinal_margin`, this module set margin as the value of _stop margin_ to `min_longitudinal_margin` [m] |
| `hold_stop_margin_distance` | double | parameter for restart prevention (See above section) [m] |
| Parameter | Type | Description |
| ------------------------------------- | ------ | ---------------------------------------------------------------------------------------------------------------------------------------------- |
| `max_longitudinal_margin` | double | margin between obstacle and the ego's front [m] |
| `max_longitudinal_margin_behind_goal` | double | margin between obstacle and the ego's front when the stop point is behind the goal[m] |
| `min_longitudinal_margin` | double | if any obstacle exists within `max_longitudinal_margin`, this module set margin as the value of _stop margin_ to `min_longitudinal_margin` [m] |
| `hold_stop_margin_distance` | double | parameter for restart prevention (See above section) [m] |

#### Obstacle detection area

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7 changes: 4 additions & 3 deletions planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml
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Expand Up @@ -14,9 +14,10 @@
stop_planner:
# params for stop position
stop_position:
max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m]
min_longitudinal_margin: 2.0 # stop margin distance when any other stop point is inserted in stop margin [m]
hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m]
max_longitudinal_margin: 5.0 # stop margin distance from obstacle on the path [m]
max_longitudinal_margin_behind_goal: 3.0 # stop margin distance from obstacle behind the goal on the path [m]
min_longitudinal_margin: 2.0 # stop margin distance when any other stop point is inserted in stop margin [m]
hold_stop_margin_distance: 0.0 # the ego keeps stopping if the ego is in this margin [m]

# params for detection area
detection_area:
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1 change: 1 addition & 0 deletions planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_data.hpp
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Expand Up @@ -99,6 +99,7 @@ struct StopParam

// margin between obstacle and the ego's front [m]
double max_longitudinal_margin;
double max_longitudinal_margin_behind_goal;

// margin between obstacle and the ego's front [m]
// if any other stop point is inserted within max_longitudinal_margin.
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10 changes: 9 additions & 1 deletion planning/obstacle_stop_planner/src/node.cpp
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Expand Up @@ -85,6 +85,8 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod
// params for stop position
p.max_longitudinal_margin =
declare_parameter<double>(ns + "stop_position.max_longitudinal_margin");
p.max_longitudinal_margin_behind_goal =
declare_parameter<double>(ns + "stop_position.max_longitudinal_margin_behind_goal");
p.min_longitudinal_margin =
declare_parameter<double>(ns + "stop_position.min_longitudinal_margin");
p.hold_stop_margin_distance =
Expand All @@ -104,6 +106,7 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod

// apply offset
p.max_longitudinal_margin += i.max_longitudinal_offset_m;
p.max_longitudinal_margin_behind_goal += i.max_longitudinal_offset_m;
p.min_longitudinal_margin += i.max_longitudinal_offset_m;
p.stop_search_radius =
p.step_length +
Expand Down Expand Up @@ -1297,8 +1300,13 @@ StopPoint ObstacleStopPlannerNode::searchInsertPoint(
const int idx, const TrajectoryPoints & base_trajectory, const double dist_remain,
const StopParam & stop_param)
{
const bool is_behind_goal = static_cast<size_t>(idx) == base_trajectory.size() - 1;
const double max_longitudinal_margin = is_behind_goal
? stop_param.max_longitudinal_margin_behind_goal
: stop_param.max_longitudinal_margin;

const auto max_dist_stop_point =
createTargetPoint(idx, stop_param.max_longitudinal_margin, base_trajectory, dist_remain);
createTargetPoint(idx, max_longitudinal_margin, base_trajectory, dist_remain);
const auto min_dist_stop_point =
createTargetPoint(idx, stop_param.min_longitudinal_margin, base_trajectory, dist_remain);

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