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fix(start_planner): consider backward completion before preparing blinker (#6558) #1183

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merged 1 commit into from
Mar 8, 2024
Merged

fix(start_planner): consider backward completion before preparing blinker (#6558) #1183

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7 changes: 4 additions & 3 deletions ..._start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,8 +70,9 @@ struct PullOutStatus
bool prev_is_safe_dynamic_objects{false};
std::shared_ptr<PathWithLaneId> prev_stop_path_after_approval{nullptr};
std::optional<Pose> stop_pose{std::nullopt};
//! record the first time when the state changed from !isActivated() to isActivated()
std::optional<rclcpp::Time> first_engaged_time{std::nullopt};
//! record the first time when ego started forward-driving (maybe after backward driving
//! completion) in AUTONOMOUS operation mode
std::optional<rclcpp::Time> first_engaged_and_driving_forward_time{std::nullopt};

PullOutStatus() {}
};
Expand Down Expand Up @@ -278,7 +279,7 @@ class StartPlannerModule : public SceneModuleInterface
const lanelet::ConstLanelets & pull_out_lanes, const geometry_msgs::msg::Point & current_pose,
const double velocity_threshold, const double object_check_backward_distance,
const double object_check_forward_distance) const;
bool needToPrepareBlinkerBeforeStart() const;
bool needToPrepareBlinkerBeforeStartDrivingForward() const;
bool hasFinishedPullOut() const;
bool hasFinishedBackwardDriving() const;
bool hasCollisionWithDynamicObjects() const;
Expand Down
18 changes: 10 additions & 8 deletions planning/behavior_path_start_planner_module/src/start_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ void StartPlannerModule::onFreespacePlannerTimer()
BehaviorModuleOutput StartPlannerModule::run()
{
updateData();
if (!isActivated() || needToPrepareBlinkerBeforeStart()) {
if (!isActivated() || needToPrepareBlinkerBeforeStartDrivingForward()) {
return planWaitingApproval();
}

Expand Down Expand Up @@ -178,8 +178,8 @@ void StartPlannerModule::updateData()

if (
planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&
!status_.first_engaged_time) {
status_.first_engaged_time = clock_->now();
status_.driving_forward && !status_.first_engaged_and_driving_forward_time) {
status_.first_engaged_and_driving_forward_time = clock_->now();
}

status_.backward_driving_complete = hasFinishedBackwardDriving();
Expand Down Expand Up @@ -1073,13 +1073,15 @@ bool StartPlannerModule::hasFinishedPullOut() const
return has_finished;
}

bool StartPlannerModule::needToPrepareBlinkerBeforeStart() const
bool StartPlannerModule::needToPrepareBlinkerBeforeStartDrivingForward() const
{
if (!status_.first_engaged_time) {
return true;
if (!status_.first_engaged_and_driving_forward_time) {
return false;
}
const auto first_engaged_time = status_.first_engaged_time.value();
const double elapsed = rclcpp::Duration(clock_->now() - first_engaged_time).seconds();
const auto first_engaged_and_driving_forward_time =
status_.first_engaged_and_driving_forward_time.value();
const double elapsed =
rclcpp::Duration(clock_->now() - first_engaged_and_driving_forward_time).seconds();
return elapsed < parameters_->prepare_time_before_start;
}

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