refactor(start_planner): calculate drivable lanes efficiently

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/shift_pull_out.hpp

@@ -50,6 +50,11 @@ class ShiftPullOut : public PullOutPlannerBase
     ShiftedPath & shifted_path, const Pose & start_pose, const Pose & end_pose,
     const double longitudinal_acc, const double lateral_acc);
 
+  void setDrivableLanes(const lanelet::ConstLanelets & drivable_lanes)
+  {
+    drivable_lanes_ = drivable_lanes;
+  }
+
   std::shared_ptr<LaneDepartureChecker> lane_departure_checker_;
 
 private:
@@ -58,6 +63,8 @@ class ShiftPullOut : public PullOutPlannerBase
   double calcPullOutLongitudinalDistance(
     const double lon_acc, const double shift_time, const double shift_length,
     const double max_curvature, const double min_distance) const;
+
+  lanelet::ConstLanelets drivable_lanes_;
 };
 }  // namespace behavior_path_planner
 

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp

@@ -242,6 +242,8 @@ class StartPlannerModule : public SceneModuleInterface
     const std::vector<PoseWithVelocityStamped> & ego_predicted_path) const;
   bool isSafePath() const;
   void setDrivableAreaInfo(BehaviorModuleOutput & output) const;
+  void updateDrivableLanes();
+  lanelet::ConstLanelets createDrivableLanes() const;
 
   // check if the goal is located behind the ego in the same route segment.
   bool isGoalBehindOfEgoInSameRouteSegment() const;

planning/behavior_path_start_planner_module/src/shift_pull_out.cpp

@@ -48,90 +48,71 @@
   const auto & common_parameters = planner_data_->parameters;
 
   const double backward_path_length =
     planner_data_->parameters.backward_path_length + parameters_.max_back_distance;
-  const auto pull_out_lanes = getPullOutLanes(planner_data_, backward_path_length);
-  if (pull_out_lanes.empty()) {
-    return std::nullopt;
-  }
-
   const auto road_lanes = utils::getExtendedCurrentLanes(
     planner_data_, backward_path_length, std::numeric_limits<double>::max(),
     /*forward_only_in_route*/ true);
   // find candidate paths
   auto pull_out_paths = calcPullOutPaths(*route_handler, road_lanes, start_pose, goal_pose);
   if (pull_out_paths.empty()) {
     return std::nullopt;
   }
 
   // get safe path
   for (auto & pull_out_path : pull_out_paths) {
     auto & shift_path =
       pull_out_path.partial_paths.front();  // shift path is not separate but only one.
 
     // check lane_departure with path between pull_out_start to pull_out_end
     PathWithLaneId path_start_to_end{};
     {
       const size_t pull_out_start_idx = findNearestIndex(shift_path.points, start_pose.position);
 
       // calculate collision check end idx
       const size_t collision_check_end_idx = std::invoke([&]() {
         const auto collision_check_end_pose = motion_utils::calcLongitudinalOffsetPose(
           shift_path.points, pull_out_path.end_pose.position,
           parameters_.collision_check_distance_from_end);
 
         if (collision_check_end_pose) {
           return findNearestIndex(shift_path.points, collision_check_end_pose->position);
         } else {
           return shift_path.points.size() - 1;
         }
       });
       path_start_to_end.points.insert(
         path_start_to_end.points.begin(), shift_path.points.begin() + pull_out_start_idx,
         shift_path.points.begin() + collision_check_end_idx + 1);
     }
 
-    // extract shoulder lanes from pull out lanes
-    lanelet::ConstLanelets shoulder_lanes;
-    std::copy_if(
-      pull_out_lanes.begin(), pull_out_lanes.end(), std::back_inserter(shoulder_lanes),
-      [&route_handler](const auto & pull_out_lane) {
-        return route_handler->isShoulderLanelet(pull_out_lane);
-      });
-    const auto drivable_lanes =
-      utils::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes);
-    const auto & dp = planner_data_->drivable_area_expansion_parameters;
-    const auto expanded_lanes = utils::transformToLanelets(utils::expandLanelets(
-      drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset,
-      dp.drivable_area_types_to_skip));
-
     // crop backward path
     // removes points which are out of lanes up to the start pose.
     // this ensures that the backward_path stays within the drivable area when starting from a
     // narrow place.
     const size_t start_segment_idx = motion_utils::findFirstNearestIndexWithSoftConstraints(
       shift_path.points, start_pose, common_parameters.ego_nearest_dist_threshold,
       common_parameters.ego_nearest_yaw_threshold);
     PathWithLaneId cropped_path{};
     for (size_t i = 0; i < shift_path.points.size(); ++i) {
       const Pose pose = shift_path.points.at(i).point.pose;
       const auto transformed_vehicle_footprint =
         transformVector(vehicle_footprint_, tier4_autoware_utils::pose2transform(pose));
       const bool is_out_of_lane =
-        LaneDepartureChecker::isOutOfLane(expanded_lanes, transformed_vehicle_footprint);
+        LaneDepartureChecker::isOutOfLane(drivable_lanes_, transformed_vehicle_footprint);
       if (i <= start_segment_idx) {
         if (!is_out_of_lane) {
           cropped_path.points.push_back(shift_path.points.at(i));
         }
       } else {
         cropped_path.points.push_back(shift_path.points.at(i));
       }
     }
     shift_path.points = cropped_path.points;
 
     // check lane departure
     if (
       parameters_.check_shift_path_lane_departure &&
-      lane_departure_checker_->checkPathWillLeaveLane(expanded_lanes, path_start_to_end)) {
+      lane_departure_checker_->checkPathWillLeaveLane(drivable_lanes_, path_start_to_end)) {
       continue;
     }
 

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -1,4 +1,4 @@
 // Copyright 2022 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -127,6 +127,7 @@
   debug_marker_.markers.clear();
   initializeSafetyCheckParameters();
   initializeCollisionCheckDebugMap(start_planner_data_.collision_check);
+  updateDrivableLanes();
 }
 
 void StartPlannerModule::updateEgoPredictedPathParams(
@@ -559,6 +560,7 @@
 void StartPlannerModule::resetStatus()
 {
   status_ = PullOutStatus{};
+  updateDrivableLanes();
 }
 
 void StartPlannerModule::incrementPathIndex()
@@ -1325,6 +1327,42 @@
   }
 }
 
+void StartPlannerModule::updateDrivableLanes()
+{
+  const auto drivable_lanes = createDrivableLanes();
+  for (auto & planner : start_planners_) {
+    auto shift_pull_out = std::dynamic_pointer_cast<ShiftPullOut>(planner);
+
+    if (shift_pull_out) {
+      shift_pull_out->setDrivableLanes(drivable_lanes);
+    }
+  }
+}
+
+lanelet::ConstLanelets StartPlannerModule::createDrivableLanes() const
+{
+  const double backward_path_length =
+    planner_data_->parameters.backward_path_length + parameters_->max_back_distance;
+  const auto pull_out_lanes =
+    start_planner_utils::getPullOutLanes(planner_data_, backward_path_length);
+  if (pull_out_lanes.empty()) {
+    return lanelet::ConstLanelets{};
+  }
+  const auto road_lanes = utils::getExtendedCurrentLanes(
+    planner_data_, backward_path_length, std::numeric_limits<double>::max(),
+    /*forward_only_in_route*/ true);
+  // extract shoulder lanes from pull out lanes
+  lanelet::ConstLanelets shoulder_lanes;
+  std::copy_if(
+    pull_out_lanes.begin(), pull_out_lanes.end(), std::back_inserter(shoulder_lanes),
+    [this](const auto & pull_out_lane) {
+      return planner_data_->route_handler->isShoulderLanelet(pull_out_lane);
+    });
+  const auto drivable_lanes = utils::transformToLanelets(
+    utils::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes));
+  return drivable_lanes;
+}
+
 void StartPlannerModule::setDebugData()
 {
   using marker_utils::addFootprintMarker;