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feat(obstacle_cruise_planner): consider object velocity direction #4647

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merged 3 commits into from
Aug 17, 2023
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feat(obstacle_cruise_planner): consider object velocity direction #4647

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feat(obstacle_cruise_planner): consider object velocity direction
takayuki5168 Aug 16, 2023
14d24c8
update
takayuki5168 Aug 16, 2023
327c487
chore: spell fix
shmpwk Aug 17, 2023
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19 changes: 11 additions & 8 deletions planning/obstacle_cruise_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,12 +100,13 @@ std::pair<double, double> projectObstacleVelocityToTrajectory(
{
const size_t object_idx = motion_utils::findNearestIndex(traj_points, obstacle.pose.position);

const double object_yaw = tf2::getYaw(obstacle.pose.orientation);
const double object_vel_norm = std::hypot(obstacle.twist.linear.x, obstacle.twist.linear.y);
const double object_vel_yaw = std::atan2(obstacle.twist.linear.y, obstacle.twist.linear.x);
const double traj_yaw = tf2::getYaw(traj_points.at(object_idx).pose.orientation);

return std::make_pair(
obstacle.twist.linear.x * std::cos(object_yaw - traj_yaw),
obstacle.twist.linear.x * std::sin(object_yaw - traj_yaw));
object_vel_norm * std::cos(object_vel_yaw - traj_yaw),
object_vel_norm * std::sin(object_vel_yaw - traj_yaw));
}

double calcObstacleMaxLength(const Shape & shape)
Expand Down Expand Up @@ -818,7 +819,9 @@ ObstacleCruisePlannerNode::createCollisionPointsForOutsideCruiseObstacle(
return std::nullopt;
}

if (std::abs(obstacle.twist.linear.x) < p.outside_obstacle_min_velocity_threshold) {
if (
std::hypot(obstacle.twist.linear.x, obstacle.twist.linear.y) <
p.outside_obstacle_min_velocity_threshold) {
RCLCPP_INFO_EXPRESSION(
get_logger(), enable_debug_info_,
"[Cruise] Ignore outside obstacle (%s) since the obstacle velocity is low.",
Expand Down Expand Up @@ -919,8 +922,8 @@ ObstacleCruisePlannerNode::createCollisionPointForStopObstacle(
// NOTE: Dynamic obstacles for stop are crossing ego's trajectory with high speed,
// and the collision between ego and obstacles are within the margin threshold.
const bool is_obstacle_crossing = isObstacleCrossing(traj_points, obstacle);
const double has_high_speed =
p.crossing_obstacle_velocity_threshold < std::abs(obstacle.twist.linear.x);
const double has_high_speed = p.crossing_obstacle_velocity_threshold <
std::hypot(obstacle.twist.linear.x, obstacle.twist.linear.y);
if (is_obstacle_crossing && has_high_speed) {
// Get highest confidence predicted path
const auto resampled_predicted_path = resampleHighestConfidencePredictedPath(
Expand Down Expand Up @@ -995,7 +998,7 @@ std::optional<SlowDownObstacle> ObstacleCruisePlannerNode::createSlowDownObstacl
}
return true;
}
// check if entrying slow down
// check if entering slow down
if (is_lat_dist_low) {
const int count = slow_down_condition_counter_.increaseCounter(obstacle.uuid);
if (p.successive_num_to_entry_slow_down_condition <= count) {
Expand All @@ -1016,7 +1019,7 @@ std::optional<SlowDownObstacle> ObstacleCruisePlannerNode::createSlowDownObstacl
const auto obstacle_poly = obstacle.toPolygon();

// calculate collision points with trajectory with lateral stop margin
// NOTE: For additional margin, hysteresis is not devided by two.
// NOTE: For additional margin, hysteresis is not divided by two.
const auto traj_polys_with_lat_margin = polygon_utils::createOneStepPolygons(
traj_points, vehicle_info_,
p.max_lat_margin_for_slow_down + p.lat_hysteresis_margin_for_slow_down);
Expand Down