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feat(autonomous_emergency_braking): cherry pick latest aeb #1604

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merged 2 commits into from
Oct 24, 2024
Merged

feat(autonomous_emergency_braking): cherry pick latest aeb #1604

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b1fb1a7
refactor(autoware_autonomous_emergency_braking): rename info_marker_p…
kyoichi-sugahara Oct 11, 2024
ecfc45b
fix(autonomous_emergency_braking): fix no backward imu path and wrong…
danielsanchezaran Oct 24, 2024
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2 changes: 1 addition & 1 deletion ...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -341,7 +341,7 @@ class AEB : public rclcpp::Node
// publisher
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_obstacle_pointcloud_;
rclcpp::Publisher<MarkerArray>::SharedPtr debug_marker_publisher_;
rclcpp::Publisher<MarkerArray>::SharedPtr info_marker_publisher_;
rclcpp::Publisher<MarkerArray>::SharedPtr virtual_wall_publisher_;
rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr
debug_processing_time_detail_pub_;
rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr debug_rss_distance_publisher_;
Expand Down
21 changes: 12 additions & 9 deletions control/autoware_autonomous_emergency_braking/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <autoware/autonomous_emergency_braking/node.hpp>
#include <autoware/autonomous_emergency_braking/utils.hpp>
#include <autoware/motion_utils/marker/marker_helper.hpp>
#include <autoware/motion_utils/trajectory/trajectory.hpp>
#include <autoware/universe_utils/geometry/boost_geometry.hpp>
#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
#include <autoware/universe_utils/geometry/geometry.hpp>
Expand Down Expand Up @@ -138,7 +139,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
pub_obstacle_pointcloud_ =
this->create_publisher<sensor_msgs::msg::PointCloud2>("~/debug/obstacle_pointcloud", 1);
debug_marker_publisher_ = this->create_publisher<MarkerArray>("~/debug/markers", 1);
info_marker_publisher_ = this->create_publisher<MarkerArray>("~/info/markers", 1);
virtual_wall_publisher_ = this->create_publisher<MarkerArray>("~/virtual_wall", 1);
debug_rss_distance_publisher_ =
this->create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/debug/rss_distance", 1);
}
Expand Down Expand Up @@ -398,7 +399,7 @@ bool AEB::fetchLatestData()
void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
{
MarkerArray debug_markers;
MarkerArray info_markers;
MarkerArray virtual_wall_marker;
checkCollision(debug_markers);

if (!collision_data_keeper_.checkCollisionExpired()) {
Expand All @@ -414,7 +415,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
addCollisionMarker(data.value(), debug_markers);
}
}
addVirtualStopWallMarker(info_markers);
addVirtualStopWallMarker(virtual_wall_marker);
} else {
const std::string error_msg = "[AEB]: No Collision";
const auto diag_level = DiagnosticStatus::OK;
Expand All @@ -423,7 +424,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)

// publish debug markers
debug_marker_publisher_->publish(debug_markers);
info_marker_publisher_->publish(info_markers);
virtual_wall_publisher_->publish(virtual_wall_marker);
}

bool AEB::checkCollision(MarkerArray & debug_markers)
Expand Down Expand Up @@ -642,7 +643,7 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w)
ini_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(curr_yaw);
path.push_back(ini_pose);
const double & dt = imu_prediction_time_interval_;
const double distance_between_points = curr_v * dt;
const double distance_between_points = std::abs(curr_v) * dt;
constexpr double minimum_distance_between_points{1e-2};
// if current velocity is too small, assume it stops at the same point
// if distance between points is too small, arc length calculation is unreliable, so we skip
Expand Down Expand Up @@ -887,7 +888,11 @@ void AEB::getClosestObjectsOnPath(
if (ego_path.size() < 2 || points_belonging_to_cluster_hulls->empty()) {
return;
}

const auto ego_is_driving_forward_opt = autoware::motion_utils::isDrivingForward(ego_path);
if (!ego_is_driving_forward_opt.has_value()) {
return;
}
const bool ego_is_driving_forward = ego_is_driving_forward_opt.value();
// select points inside the ego footprint path
const auto current_p = [&]() {
const auto & first_point_of_path = ego_path.front();
Expand Down Expand Up @@ -916,11 +921,9 @@ void AEB::getClosestObjectsOnPath(

// If the object is behind the ego, we need to use the backward long offset. The distance should
// be a positive number in any case
const bool is_object_in_front_of_ego = obj_arc_length > 0.0;
const double dist_ego_to_object = (is_object_in_front_of_ego)
const double dist_ego_to_object = (ego_is_driving_forward)
? obj_arc_length - vehicle_info_.max_longitudinal_offset_m
: obj_arc_length + vehicle_info_.min_longitudinal_offset_m;

ObjectData obj;
obj.stamp = stamp;
obj.position = obj_position;
Expand Down
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