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feat(avoidance): make detection area dynamically #5303

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Oct 17, 2023
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feat(avoidance): make detection area dynamically #5303

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9 changes: 7 additions & 2 deletions planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -118,8 +118,6 @@
object_ignore_section_crosswalk_in_front_distance: 30.0 # [m]
object_ignore_section_crosswalk_behind_distance: 30.0 # [m]
# detection range
object_check_forward_distance: 150.0 # [m]
object_check_backward_distance: 2.0 # [m]
object_check_goal_distance: 20.0 # [m]
# filtering parking objects
threshold_distance_object_is_on_center: 1.0 # [m]
Expand All @@ -128,6 +126,13 @@
# lost object compensation
object_last_seen_threshold: 2.0

# detection area generation parameters
detection_area:
static: true # [-]
min_forward_distance: 50.0 # [m]
max_forward_distance: 150.0 # [m]
backward_distance: 10.0 # [m]

# For safety check
safety_check:
# safety check configuration
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6 changes: 3 additions & 3 deletions ...vior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
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Expand Up @@ -145,9 +145,9 @@ struct AvoidanceParameters
double object_ignore_section_crosswalk_behind_distance{0.0};

// distance to avoid object detection
double object_check_forward_distance{0.0};

// continue to detect backward vehicles as avoidance targets until they are this distance away
bool use_static_detection_area{true};
double object_check_min_forward_distance{0.0};
double object_check_max_forward_distance{0.0};
double object_check_backward_distance{0.0};

// if the distance between object and goal position is less than this parameter, the module ignore
Expand Down
16 changes: 16 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp
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Expand Up @@ -173,6 +173,22 @@ class AvoidanceHelper
: std::max(shift_length, getRightShiftBound());
}

double getForwardDetectionRange() const
{
if (parameters_->use_static_detection_area) {
return parameters_->object_check_max_forward_distance;
}

const auto max_shift_length = std::max(
std::abs(parameters_->max_right_shift_length), std::abs(parameters_->max_left_shift_length));
const auto dynamic_distance = PathShifter::calcLongitudinalDistFromJerk(
max_shift_length, getLateralMinJerkLimit(), getEgoSpeed());

return std::clamp(
1.5 * dynamic_distance, parameters_->object_check_min_forward_distance,
parameters_->object_check_max_forward_distance);
}

void alignShiftLinesOrder(AvoidLineArray & lines, const bool align_shift_length = true) const
{
if (lines.empty()) {
Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
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Expand Up @@ -167,7 +167,7 @@ std::vector<ExtendedPredictedObject> getSafetyCheckTargetObjects(
std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
const PathWithLaneId & path, const std::shared_ptr<const PlannerData> & planner_data,
const AvoidancePlanningData & data, const std::shared_ptr<AvoidanceParameters> & parameters,
const bool is_running, DebugData & debug);
const double object_check_forward_distance, const bool is_running, DebugData & debug);

DrivableLanes generateExpandDrivableLanes(
const lanelet::ConstLanelet & lanelet, const std::shared_ptr<const PlannerData> & planner_data,
Expand Down
7 changes: 4 additions & 3 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Expand Up @@ -322,11 +322,12 @@ void AvoidanceModule::fillAvoidanceTargetObjects(
getCurrentStatus() == ModuleStatus::WAITING_APPROVAL;

// Separate dynamic objects based on whether they are inside or outside of the expanded lanelets.
const auto sparse_resample_path = utils::resamplePathWithSpline(
helper_.getPreviousSplineShiftPath().path, parameters_->resample_interval_for_output);
const auto [object_within_target_lane, object_outside_target_lane] =
utils::avoidance::separateObjectsByPath(
utils::resamplePathWithSpline(
helper_.getPreviousSplineShiftPath().path, parameters_->resample_interval_for_output),
planner_data_, data, parameters_, is_running, debug);
sparse_resample_path, planner_data_, data, parameters_, helper_.getForwardDetectionRange(),
is_running, debug);

for (const auto & object : object_outside_target_lane.objects) {
ObjectData other_object;
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15 changes: 11 additions & 4 deletions planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,10 +114,6 @@ AvoidanceModuleManager::AvoidanceModuleManager(
*node, ns + "object_ignore_section_crosswalk_in_front_distance");
p.object_ignore_section_crosswalk_behind_distance =
getOrDeclareParameter<double>(*node, ns + "object_ignore_section_crosswalk_behind_distance");
p.object_check_forward_distance =
getOrDeclareParameter<double>(*node, ns + "object_check_forward_distance");
p.object_check_backward_distance =
getOrDeclareParameter<double>(*node, ns + "object_check_backward_distance");
p.object_check_goal_distance =
getOrDeclareParameter<double>(*node, ns + "object_check_goal_distance");
p.threshold_distance_object_is_on_center =
Expand All @@ -130,6 +126,17 @@ AvoidanceModuleManager::AvoidanceModuleManager(
getOrDeclareParameter<double>(*node, ns + "object_last_seen_threshold");
}

{
std::string ns = "avoidance.target_filtering.detection_area.";
p.use_static_detection_area = getOrDeclareParameter<bool>(*node, ns + "static");
p.object_check_min_forward_distance =
getOrDeclareParameter<double>(*node, ns + "min_forward_distance");
p.object_check_max_forward_distance =
getOrDeclareParameter<double>(*node, ns + "max_forward_distance");
p.object_check_backward_distance =
getOrDeclareParameter<double>(*node, ns + "backward_distance");
}

// safety check general params
{
std::string ns = "avoidance.safety_check.";
Expand Down
15 changes: 11 additions & 4 deletions planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -329,10 +329,6 @@ AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager(
*node, ns + "object_ignore_section_crosswalk_in_front_distance");
p.object_ignore_section_crosswalk_behind_distance =
getOrDeclareParameter<double>(*node, ns + "object_ignore_section_crosswalk_behind_distance");
p.object_check_forward_distance =
getOrDeclareParameter<double>(*node, ns + "object_check_forward_distance");
p.object_check_backward_distance =
getOrDeclareParameter<double>(*node, ns + "object_check_backward_distance");
p.object_check_goal_distance =
getOrDeclareParameter<double>(*node, ns + "object_check_goal_distance");
p.threshold_distance_object_is_on_center =
Expand All @@ -345,6 +341,17 @@ AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager(
getOrDeclareParameter<double>(*node, ns + "object_last_seen_threshold");
}

{
std::string ns = "avoidance.target_filtering.detection_area.";
p.use_static_detection_area = getOrDeclareParameter<bool>(*node, ns + "static");
p.object_check_min_forward_distance =
getOrDeclareParameter<double>(*node, ns + "min_forward_distance");
p.object_check_max_forward_distance =
getOrDeclareParameter<double>(*node, ns + "max_forward_distance");
p.object_check_backward_distance =
getOrDeclareParameter<double>(*node, ns + "backward_distance");
}

// safety check
{
std::string ns = "avoidance.safety_check.";
Expand Down
8 changes: 4 additions & 4 deletions planning/behavior_path_planner/src/utils/avoidance/utils.cpp
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Expand Up @@ -991,7 +991,7 @@ void filterTargetObjects(
data.other_objects.push_back(o);
continue;
}
if (o.longitudinal > parameters->object_check_forward_distance) {
if (o.longitudinal > parameters->object_check_max_forward_distance) {
o.reason = AvoidanceDebugFactor::OBJECT_IS_IN_FRONT_THRESHOLD;
data.other_objects.push_back(o);
continue;
Expand Down Expand Up @@ -1479,7 +1479,7 @@ lanelet::ConstLanelets getAdjacentLane(
const std::shared_ptr<AvoidanceParameters> & parameters, const bool is_right_shift)
{
const auto & rh = planner_data->route_handler;
const auto & forward_distance = parameters->object_check_forward_distance;
const auto & forward_distance = parameters->object_check_max_forward_distance;
const auto & backward_distance = parameters->safety_check_backward_distance;
const auto & vehicle_pose = planner_data->self_odometry->pose.pose;

Expand Down Expand Up @@ -1619,7 +1619,7 @@ std::vector<ExtendedPredictedObject> getSafetyCheckTargetObjects(
std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
const PathWithLaneId & path, const std::shared_ptr<const PlannerData> & planner_data,
const AvoidancePlanningData & data, const std::shared_ptr<AvoidanceParameters> & parameters,
const bool is_running, DebugData & debug)
const double object_check_forward_distance, const bool is_running, DebugData & debug)
{
PredictedObjects target_objects;
PredictedObjects other_objects;
Expand All @@ -1642,7 +1642,7 @@ std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
const auto & p_ego_back = path.points.at(i + 1).point.pose;

const auto distance_from_ego = calcSignedArcLength(path.points, ego_idx, i);
if (distance_from_ego > parameters->object_check_forward_distance) {
if (distance_from_ego > object_check_forward_distance) {
break;
}

Expand Down