feat(avoidance): use intersection area #4206
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #4206 +/- ##
==========================================
+ Coverage 14.16% 14.18% +0.01%
==========================================
Files 1586 1586
Lines 109537 109417 -120
Branches 31451 31391 -60
==========================================
+ Hits 15518 15519 +1
+ Misses 77130 77015 -115
+ Partials 16889 16883 -6
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5 tasks
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| // expand drivable area by intersection areas. | ||
| const std::string id = bound_lane.attributeOr("intersection_area", "else"); | ||
| if (enable_expanding_intersection_areas && id != "else") { |
There was a problem hiding this comment.
const bool isIntersectionArea = enable_expanding_intersection_areas && intersection_area != "else";
// expand drivable area by intersection areas.
if (isIntersectionArea) {
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Thanks for your advice! I fixed in 1e60bcb.
Comment on lines
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| if (use_hatched_road_markings) { | ||
| for (const auto & point : target_line) { | ||
| const auto new_polygon_candidate = | ||
| utils::getPolygonByPoint(rh, point, "hatched_road_markings"); | ||
| if (!new_polygon_candidate) { | ||
| continue; | ||
| } | ||
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| bool is_new_polygon{true}; | ||
| for (const auto & polygon : expandable_polygons) { | ||
| if (polygon.id() == new_polygon_candidate->id()) { | ||
| is_new_polygon = false; | ||
| break; | ||
| } | ||
| } | ||
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| if (is_new_polygon) { | ||
| expandable_polygons.push_back(*new_polygon_candidate); | ||
| } | ||
| } | ||
| } | ||
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| if (use_intersection_areas) { | ||
| const std::string area_id_str = overhang_lanelet.attributeOr("intersection_area", "else"); | ||
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| if (is_new_polygon) { | ||
| expandable_polygons.push_back(*new_polygon_candidate); | ||
| if (area_id_str != "else") { | ||
| expandable_polygons.push_back( | ||
| rh->getLaneletMapPtr()->polygonLayer.get(std::atoi(area_id_str.c_str()))); | ||
| } | ||
| } | ||
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| if (expandable_polygons.empty()) { | ||
| return to_road_shoulder_distance; | ||
| } |
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auto polygonExistsIn = [](const auto &polygons, const auto &new_polygon) {
return std::any_of(polygons.begin(), polygons.end(), [&](const auto &polygon){
return polygon.id() == new_polygon.id();
});
};
if (use_hatched_road_markings) {
for (const auto & point : target_line) {
const auto new_polygon_candidate = utils::getPolygonByPoint(rh, point, "hatched_road_markings");
if (new_polygon_candidate && !polygonExistsIn(expandable_polygons, *new_polygon_candidate)) {
expandable_polygons.push_back(*new_polygon_candidate);
}
}
}
if (use_intersection_areas) {
const std::string area_id_str = overhang_lanelet.attributeOr("intersection_area", "else");
if (area_id_str != "else") {
expandable_polygons.push_back(
rh->getLaneletMapPtr()->polygonLayer.get(std::atoi(area_id_str.c_str())));
}
}
if (expandable_polygons.empty()) {
return to_road_shoulder_distance;
}
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I fixed in 1e60bcb.
kyoichi-sugahara
approved these changes
Jul 11, 2023
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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takayuki5168
approved these changes
Jul 11, 2023
SaltUhey
pushed a commit
to SaltUhey/autoware.universe
that referenced
this pull request
Apr 11, 2024
…4206) Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
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Description
🤖 Generated by Copilot at 48eabc2
This pull request refactors and improves the code for generating and using the drivable area in the behavior path planner. It removes redundant code, adds new parameters and flags, and simplifies the logic for expanding the drivable area by polygons such as hatched road markings and intersection areas. It also makes the functions for drivable area calculation more consistent and flexible. The changes affect several files in the
planning/behavior_path_plannerdirectory, such asutils.hpp,utils.cpp,planner_manager.cpp, andavoidance.param.yaml.Please approve ⬇️ before this PR.
autowarefoundation/autoware_launch#439
Tests performed
Psim
Effects on system behavior
Not applicable.
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