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feat(intersection): consider object velocity direction #4651

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Aug 17, 2023
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feat(intersection): consider object velocity direction #4651

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feat(intersection): consider object velocity direction
takayuki5168 Aug 16, 2023
f4ccf1f
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takayuki5168 Aug 16, 2023
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11 changes: 8 additions & 3 deletions planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -800,8 +800,11 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
util::isOverTargetIndex(*path, closest_idx, current_pose, pass_judge_line_idx);
const bool is_over_default_stop_line =
util::isOverTargetIndex(*path, closest_idx, current_pose, default_stop_line_idx);
const double vel = std::fabs(planner_data_->current_velocity->twist.linear.x);
const bool keep_detection = (vel < planner_param_.collision_detection.keep_detection_vel_thr);
const double vel_norm = std::hypot(
planner_data_->current_velocity->twist.linear.x,
planner_data_->current_velocity->twist.linear.y);
const bool keep_detection =
(vel_norm < planner_param_.collision_detection.keep_detection_vel_thr);
// if ego is over the pass judge line and not stopped
if (is_peeking_) {
// do nothing
Expand Down Expand Up @@ -871,7 +874,9 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
target_objects.objects.begin(), target_objects.objects.end(),
std::back_inserter(parked_attention_objects),
[thresh = planner_param_.occlusion.ignore_parked_vehicle_speed_threshold](const auto & object) {
return std::fabs(object.kinematics.initial_twist_with_covariance.twist.linear.x) <= thresh;
return std::hypot(
object.kinematics.initial_twist_with_covariance.twist.linear.x,
object.kinematics.initial_twist_with_covariance.twist.linear.y) <= thresh;
});
const bool is_occlusion_cleared =
(enable_occlusion_detection_ && !occlusion_attention_lanelets.empty() && !tl_arrow_solid_on)
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6 changes: 4 additions & 2 deletions planning/behavior_velocity_intersection_module/src/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -923,8 +923,10 @@ bool checkStuckVehicleInIntersection(
if (!isTargetStuckVehicleType(object)) {
continue; // not target vehicle type
}
const auto obj_v = std::fabs(object.kinematics.initial_twist_with_covariance.twist.linear.x);
if (obj_v > stuck_vehicle_vel_thr) {
const auto obj_v_norm = std::hypot(
object.kinematics.initial_twist_with_covariance.twist.linear.x,
object.kinematics.initial_twist_with_covariance.twist.linear.y);
if (obj_v_norm > stuck_vehicle_vel_thr) {
continue; // not stop vehicle
}

Expand Down