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feat(lane_change): use different rss param to deal with parked vehicle (
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autowarefoundation#8316)

* different rss value for parked vehicle

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Documentation and config file update

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com>
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@zulfaqar-azmi-t4 @batuhanbeytekin
zulfaqar-azmi-t4 authored and batuhanbeytekin committed Aug 14, 2024
1 parent 43439ac commit b957abe
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12 changes: 12 additions & 0 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
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Expand Up @@ -773,6 +773,18 @@ The following parameters are used to judge lane change completion.
| `safety_check.execution.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 |
| `safety_check.cancel.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 |

#### safety constraints specifically for stopped or parked vehicles

| Name | Unit | Type | Description | Default value |
| :-------------------------------------------------------- | ------- | ------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- |
| `safety_check.parked.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 |
| `safety_check.parked.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -2.0 |
| `safety_check.parked.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 1.0 |
| `safety_check.parked.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 0.8 |
| `safety_check.parked.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 1.0 |
| `safety_check.parked.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 |
| `safety_check.parked.longitudinal_velocity_delta_time` | [m] | double | The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance) | 0.8 |

##### safety constraints to cancel lane change path

| Name | Unit | Type | Description | Default value |
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8 changes: 8 additions & 0 deletions ...vior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml
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Expand Up @@ -38,6 +38,14 @@
lateral_distance_max_threshold: 2.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.8
parked:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
rear_vehicle_reaction_time: 1.0
rear_vehicle_safety_time_margin: 0.8
lateral_distance_max_threshold: 1.0
longitudinal_distance_min_threshold: 3.0
longitudinal_velocity_delta_time: 0.0
cancel:
expected_front_deceleration: -1.0
expected_rear_deceleration: -2.0
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1 change: 1 addition & 0 deletions ...ne_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
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Expand Up @@ -151,6 +151,7 @@ struct Parameters
bool allow_loose_check_for_cancel{true};
double collision_check_yaw_diff_threshold{3.1416};
utils::path_safety_checker::RSSparams rss_params{};
utils::path_safety_checker::RSSparams rss_params_for_parked{};
utils::path_safety_checker::RSSparams rss_params_for_abort{};
utils::path_safety_checker::RSSparams rss_params_for_stuck{};

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17 changes: 17 additions & 0 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
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Expand Up @@ -122,6 +122,23 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node)
p.rss_params.lateral_distance_max_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.execution.lateral_distance_max_threshold"));

p.rss_params_for_parked.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.longitudinal_distance_min_threshold"));
p.rss_params_for_parked.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.longitudinal_distance_min_threshold"));
p.rss_params_for_parked.longitudinal_velocity_delta_time = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.longitudinal_velocity_delta_time"));
p.rss_params_for_parked.front_vehicle_deceleration = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.expected_front_deceleration"));
p.rss_params_for_parked.rear_vehicle_deceleration = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.expected_rear_deceleration"));
p.rss_params_for_parked.rear_vehicle_reaction_time = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.rear_vehicle_reaction_time"));
p.rss_params_for_parked.rear_vehicle_safety_time_margin = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.rear_vehicle_safety_time_margin"));
p.rss_params_for_parked.lateral_distance_max_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.parked.lateral_distance_max_threshold"));

p.rss_params_for_abort.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
*node, parameter("safety_check.cancel.longitudinal_distance_min_threshold"));
p.rss_params_for_abort.longitudinal_velocity_delta_time = getOrDeclareParameter<double>(
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7 changes: 6 additions & 1 deletion planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
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Expand Up @@ -2082,9 +2082,14 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe(
const auto obj_predicted_paths = utils::path_safety_checker::getPredictedPathFromObj(
obj, lane_change_parameters_->use_all_predicted_path);
auto is_safe = true;
const auto selected_rss_param =
(obj.initial_twist.twist.linear.x <=
lane_change_parameters_->prepare_segment_ignore_object_velocity_thresh)
? lane_change_parameters_->rss_params_for_parked
: rss_params;
for (const auto & obj_path : obj_predicted_paths) {
const auto collided_polygons = utils::path_safety_checker::getCollidedPolygons(
path, ego_predicted_path, obj, obj_path, common_parameters, rss_params, 1.0,
path, ego_predicted_path, obj, obj_path, common_parameters, selected_rss_param, 1.0,
get_max_velocity_for_safety_check(), collision_check_yaw_diff_threshold,
current_debug_data.second);

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