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feat(intersection): initially ignore occlusion at intersection with tl, if tl info has never been available #6273

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Feb 2, 2024
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feat(intersection): initially ignore occlusion at intersection with tl, if tl info has never been available #6273

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22 changes: 19 additions & 3 deletions planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,12 +39,28 @@
const auto & intersection_lanelets = intersection_lanelets_.value();
const auto & occlusion_attention_lanelets = intersection_lanelets.occlusion_attention();

const bool is_amber_or_red =
// ==========================================================================================
// for the convenience of Psim user, this module ignores occlusion if there has not been any
// information published for the associated traffic light, and only runs collision checking on
// that intersection lane.
//
// this is because Psim-users/scenario-files do not set traffic light information perfectly
// most of the times, and they just set bare minimum traffic information only for traffic lights
// they are interested in or want to test.
//
// no_tl_info_ever variable is defined for that purpose. if there has been any
// information published for the associated traffic light in the real world through perception/V2I
// or in the simulation, then it should be kept in last_tl_valid_observation_ and this variable
// becomes false
// ==========================================================================================
const bool no_tl_info_ever = !last_tl_valid_observation_.has_value();
const bool is_amber_or_red_or_no_tl_info_ever =
(traffic_prioritized_level == TrafficPrioritizedLevel::PARTIALLY_PRIORITIZED) ||
(traffic_prioritized_level == TrafficPrioritizedLevel::FULLY_PRIORITIZED);
(traffic_prioritized_level == TrafficPrioritizedLevel::FULLY_PRIORITIZED) || no_tl_info_ever;
// check occlusion on detection lane
auto occlusion_status =
(planner_param_.occlusion.enable && !occlusion_attention_lanelets.empty() && !is_amber_or_red)
(planner_param_.occlusion.enable && !occlusion_attention_lanelets.empty() &&
!is_amber_or_red_or_no_tl_info_ever)

Check warning on line 63 in planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

IntersectionModule::getOcclusionStatus increases in cyclomatic complexity from 11 to 12, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
? detectOcclusion(interpolated_path_info)
: OcclusionType::NOT_OCCLUDED;
occlusion_stop_state_machine_.setStateWithMarginTime(
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