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perf(static_obstacle_avoidance): improve logic to reduce computational cost (#8432) #1458

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Aug 13, 2024
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perf(static_obstacle_avoidance): improve logic to reduce computational cost (#8432) #1458

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28 changes: 13 additions & 15 deletions ...autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,32 +61,30 @@ bool isCentroidWithinLanelet(
const PredictedObject & object, const lanelet::ConstLanelet & lanelet, const double yaw_threshold)
{
const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose;
const auto closest_pose = lanelet::utils::getClosestCenterPose(lanelet, object_pose.position);
if (
std::abs(autoware::universe_utils::calcYawDeviation(closest_pose, object_pose)) >
yaw_threshold) {
if (!boost::geometry::within(
lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pose.position))
.basicPoint(),
lanelet.polygon2d().basicPolygon())) {
return false;
}

return boost::geometry::within(
lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pose.position))
.basicPoint(),
lanelet.polygon2d().basicPolygon());
const auto closest_pose = lanelet::utils::getClosestCenterPose(lanelet, object_pose.position);
return std::abs(autoware::universe_utils::calcYawDeviation(closest_pose, object_pose)) <
yaw_threshold;
}

bool isPolygonOverlapLanelet(
const PredictedObject & object, const lanelet::ConstLanelet & lanelet, const double yaw_threshold)
{
const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose;
const auto closest_pose = lanelet::utils::getClosestCenterPose(lanelet, object_pose.position);
if (
std::abs(autoware::universe_utils::calcYawDeviation(closest_pose, object_pose)) >
yaw_threshold) {
const auto lanelet_polygon = utils::toPolygon2d(lanelet);
if (!isPolygonOverlapLanelet(object, lanelet_polygon)) {
return false;
}

const auto lanelet_polygon = utils::toPolygon2d(lanelet);
return isPolygonOverlapLanelet(object, lanelet_polygon);
const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose;
const auto closest_pose = lanelet::utils::getClosestCenterPose(lanelet, object_pose.position);
return std::abs(autoware::universe_utils::calcYawDeviation(closest_pose, object_pose)) <
yaw_threshold;
}

bool isPolygonOverlapLanelet(
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5 changes: 0 additions & 5 deletions ...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
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Expand Up @@ -926,11 +926,6 @@ BehaviorModuleOutput StaticObstacleAvoidanceModule::plan()
spline_shift_path = helper_->getPreviousSplineShiftPath();
}

// post processing
{
postProcess(); // remove old shift points
}

BehaviorModuleOutput output;

const auto is_ignore_signal = [this](const UUID & uuid) {
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5 changes: 2 additions & 3 deletions ...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
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Expand Up @@ -2253,10 +2253,9 @@ std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
Pose p_reference_ego_front = reference_path.points.front().point.pose;
Pose p_spline_ego_front = spline_path.points.front().point.pose;
double next_longitudinal_distance = parameters->resample_interval_for_output;
const auto offset = arc_length_array.at(ego_idx);
for (size_t i = 0; i < points_size; ++i) {
const auto distance_from_ego =
autoware::motion_utils::calcSignedArcLength(reference_path.points, ego_idx, i);
if (distance_from_ego > object_check_forward_distance) {
if (arc_length_array.at(i) > object_check_forward_distance + offset) {
break;
}

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