feat(behavior_path_planner): parametrize avoidance target type (tier4…

…#574) * parametrize avoidance target type Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add target type parameter in yaml Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * mototbike -> motorcycle Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
boyali · Sep 28, 2022 · 0668094 · 0668094
1 parent b2d031f
commit 0668094
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Showing 5 changed files with 51 additions and 2 deletions.
diff --git a/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -46,5 +46,16 @@
       longitudinal_collision_margin_min_distance: 0.0          # [m]
       longitudinal_collision_margin_time: 0.0
 
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: false
+        pedestrian: false
+
       # ---------- advanced parameters ----------
       avoidance_execution_lateral_threshold: 0.499
diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml
@@ -46,5 +46,16 @@
       longitudinal_collision_margin_min_distance: 0.0          # [m]
       longitudinal_collision_margin_time: 0.0
 
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: false
+        pedestrian: false
+
       # ---------- advanced parameters ----------
       avoidance_execution_lateral_threshold: 0.499
diff --git a/...th_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp b/...th_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp
@@ -146,6 +146,18 @@ struct AvoidanceParameters
   // avoidance path will be generated unless their lateral margin difference exceeds this value.
   double avoidance_execution_lateral_threshold;
 
+  // true by default
+  bool avoid_car{true};      // avoidance is performed for type object car
+  bool avoid_truck{true};    // avoidance is performed for type object truck
+  bool avoid_bus{true};      // avoidance is performed for type object bus
+  bool avoid_trailer{true};  // avoidance is performed for type object trailer
+
+  // false by default
+  bool avoid_unknown{false};     // avoidance is performed for type object unknown
+  bool avoid_bicycle{false};     // avoidance is performed for type object bicycle
+  bool avoid_motorcycle{false};  // avoidance is performed for type object motorbike
+  bool avoid_pedestrian{false};  // avoidance is performed for type object pedestrian
+
   // debug
   bool publish_debug_marker = false;
   bool print_debug_info = false;

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -252,6 +252,15 @@ AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam()
   p.publish_debug_marker = dp("publish_debug_marker", false);
   p.print_debug_info = dp("print_debug_info", false);
 
+  p.avoid_car = dp("target_object.car", true);
+  p.avoid_truck = dp("target_object.truck", true);
+  p.avoid_bus = dp("target_object.bus", true);
+  p.avoid_trailer = dp("target_object.trailer", true);
+  p.avoid_unknown = dp("target_object.unknown", false);
+  p.avoid_bicycle = dp("target_object.bicycle", false);
+  p.avoid_motorcycle = dp("target_object.motorcycle", false);
+  p.avoid_pedestrian = dp("target_object.pedestrian", false);
+
   p.avoidance_execution_lateral_threshold = dp("avoidance_execution_lateral_threshold", 0.499);
 
   return p;

diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2528,8 +2528,14 @@ bool AvoidanceModule::isTargetObjectType(const PredictedObject & object) const
   using autoware_auto_perception_msgs::msg::ObjectClassification;
   const auto t = util::getHighestProbLabel(object.classification);
   const auto is_object_type =
-    (t == ObjectClassification::CAR || t == ObjectClassification::TRUCK ||
-     t == ObjectClassification::BUS);
+    ((t == ObjectClassification::CAR && parameters_.avoid_car) ||
+     (t == ObjectClassification::TRUCK && parameters_.avoid_truck) ||
+     (t == ObjectClassification::BUS && parameters_.avoid_bus) ||
+     (t == ObjectClassification::TRAILER && parameters_.avoid_trailer) ||
+     (t == ObjectClassification::UNKNOWN && parameters_.avoid_unknown) ||
+     (t == ObjectClassification::BICYCLE && parameters_.avoid_bicycle) ||
+     (t == ObjectClassification::MOTORCYCLE && parameters_.avoid_motorcycle) ||
+     (t == ObjectClassification::PEDESTRIAN && parameters_.avoid_pedestrian));
   return is_object_type;
 }