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fix(avoidance): fix a bug regarding the nearest search #5575

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merged 3 commits into from
Nov 14, 2023
Merged

fix(avoidance): fix a bug regarding the nearest search #5575

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80b1bb3
change the nearest search algo from the soft const to the no const
yuki-takagi-66 Nov 13, 2023
fb7f21b
fix a bug regarding nearest search
yuki-takagi-66 Nov 14, 2023
055712a
revert to find "segment" index
yuki-takagi-66 Nov 14, 2023
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9 changes: 6 additions & 3 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2025,13 +2025,16 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig
planner_data_->parameters.backward_path_length, longest_dist_to_shift_point + extra_margin);

const size_t orig_ego_idx = planner_data_->findEgoIndex(original_path.points);
const size_t prev_ego_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
const auto prev_ego_idx = motion_utils::findNearestSegmentIndex(
previous_path.points, getPose(original_path.points.at(orig_ego_idx)),
std::numeric_limits<double>::max(), planner_data_->parameters.ego_nearest_yaw_threshold);
if (!prev_ego_idx) {
return original_path;
}

size_t clip_idx = 0;
for (size_t i = 0; i < prev_ego_idx; ++i) {
if (backward_length > calcSignedArcLength(previous_path.points, clip_idx, prev_ego_idx)) {
if (backward_length > calcSignedArcLength(previous_path.points, clip_idx, *prev_ego_idx)) {
break;
}
clip_idx = i;
Expand All @@ -2041,7 +2044,7 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig
{
extended_path.points.insert(
extended_path.points.end(), previous_path.points.begin() + clip_idx,
previous_path.points.begin() + prev_ego_idx);
previous_path.points.begin() + *prev_ego_idx);
}

// overwrite backward path velocity by latest one.
Expand Down