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feat(obstacle_stop_planner): consider object velocity direction #4648

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Aug 19, 2023
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feat(obstacle_stop_planner): consider object velocity direction #4648

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feat(obstacle_stop_planner): consider object velocity direction
takayuki5168 Aug 16, 2023
819f88c
update
takayuki5168 Aug 16, 2023
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27 changes: 18 additions & 9 deletions planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -414,23 +414,27 @@ bool AdaptiveCruiseController::estimatePointVelocityFromObject(

/* get object velocity, and current yaw */
bool get_obj = false;
double obj_vel;
double obj_yaw;
double obj_vel_norm;
double obj_vel_yaw;
const Point collision_point_2d = convertPointRosToBoost(nearest_collision_p_ros);
for (const auto & obj : object_ptr->objects) {
const Polygon obj_poly = getPolygon(
obj.kinematics.initial_pose_with_covariance.pose, obj.shape.dimensions, 0.0,
param_.object_polygon_length_margin, param_.object_polygon_width_margin);
if (boost::geometry::distance(obj_poly, collision_point_2d) <= 0) {
obj_vel = obj.kinematics.initial_twist_with_covariance.twist.linear.x;
obj_yaw = tf2::getYaw(obj.kinematics.initial_pose_with_covariance.pose.orientation);
obj_vel_norm = std::hypot(
obj.kinematics.initial_twist_with_covariance.twist.linear.x,
obj.kinematics.initial_twist_with_covariance.twist.linear.y);
obj_vel_yaw = std::atan2(
obj.kinematics.initial_twist_with_covariance.twist.linear.y,
obj.kinematics.initial_twist_with_covariance.twist.linear.x);
get_obj = true;
break;
}
}

if (get_obj) {
*velocity = obj_vel * std::cos(obj_yaw - traj_yaw);
*velocity = obj_vel_norm * std::cos(obj_vel_yaw - traj_yaw);
debug_values_.data.at(DBGVAL::ESTIMATED_VEL_OBJ) = *velocity;
return true;
} else {
Expand All @@ -442,10 +446,15 @@ void AdaptiveCruiseController::calculateProjectedVelocityFromObject(
const PredictedObject & object, const double traj_yaw, double * velocity)
{
/* get object velocity, and current yaw */
double obj_vel = object.kinematics.initial_twist_with_covariance.twist.linear.x;
double obj_yaw = tf2::getYaw(object.kinematics.initial_pose_with_covariance.pose.orientation);

*velocity = obj_vel * std::cos(tier4_autoware_utils::normalizeRadian(obj_yaw - traj_yaw));
double obj_vel_norm = std::hypot(
object.kinematics.initial_twist_with_covariance.twist.linear.x,
object.kinematics.initial_twist_with_covariance.twist.linear.y);
double obj_vel_yaw = std::atan2(
object.kinematics.initial_twist_with_covariance.twist.linear.y,
object.kinematics.initial_twist_with_covariance.twist.linear.x);

*velocity =
obj_vel_norm * std::cos(tier4_autoware_utils::normalizeRadian(obj_vel_yaw - traj_yaw));
debug_values_.data.at(DBGVAL::ESTIMATED_VEL_OBJ) = *velocity;
}

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