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fix(lane_change): fix lane change force approval by rtc (#2672) #246

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merged 1 commit into from
Jan 17, 2023
Merged

fix(lane_change): fix lane change force approval by rtc (#2672) #246

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1 change: 1 addition & 0 deletions ...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,7 @@ class LaneChangeModule : public SceneModuleInterface
void updateSteeringFactorPtr(
const CandidateOutput & output, const LaneChangePath & selected_path) const;
bool isSafe() const;
bool isValidPath() const;
bool isValidPath(const PathWithLaneId & path) const;
bool isNearEndOfLane() const;
bool isCurrentSpeedLow() const;
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1 change: 1 addition & 0 deletions ...lanner/include/behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp
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Expand Up @@ -55,6 +55,7 @@ struct LaneChangeStatus
std::vector<uint64_t> lane_follow_lane_ids;
std::vector<uint64_t> lane_change_lane_ids;
bool is_safe;
bool is_valid_path = true;
double start_distance;
};
} // namespace behavior_path_planner
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10 changes: 7 additions & 3 deletions planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
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Expand Up @@ -59,7 +59,7 @@ BehaviorModuleOutput LaneChangeModule::run()
is_activated_ = isActivated();
auto output = plan();

if (!isSafe()) {
if (!isValidPath()) {
current_state_ = BT::NodeStatus::SUCCESS; // for breaking loop
return output;
}
Expand Down Expand Up @@ -118,7 +118,7 @@ bool LaneChangeModule::isExecutionReady() const
BT::NodeStatus LaneChangeModule::updateState()
{
RCLCPP_DEBUG(getLogger(), "LANE_CHANGE updateState");
if (!isSafe()) {
if (!isValidPath()) {
current_state_ = BT::NodeStatus::SUCCESS;
return current_state_;
}
Expand Down Expand Up @@ -148,8 +148,10 @@ BehaviorModuleOutput LaneChangeModule::plan()
auto path = status_.lane_change_path.path;

if (!isValidPath(path)) {
status_.is_safe = false;
status_.is_valid_path = false;
return BehaviorModuleOutput{};
} else {
status_.is_valid_path = true;
}
generateExtendedDrivableArea(path);

Expand Down Expand Up @@ -374,6 +376,8 @@ std::pair<bool, bool> LaneChangeModule::getSafePath(

bool LaneChangeModule::isSafe() const { return status_.is_safe; }

bool LaneChangeModule::isValidPath() const { return status_.is_valid_path; }

bool LaneChangeModule::isValidPath(const PathWithLaneId & path) const
{
const auto & route_handler = planner_data_->route_handler;
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