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feat(intersection): ensure temporal stop before peeking into oncoming lane #911

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merged 2 commits into from
Oct 5, 2023
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feat(intersection): ensure temporal stop before peeking into oncoming lane #911

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aacad9f
feat(intersection): modify occlusion distance calculation and publish…
soblin Sep 25, 2023
257b961
feat(intersection): ensure temporal stop before peeking into oncoming…
soblin Sep 25, 2023
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11 changes: 8 additions & 3 deletions planning/behavior_velocity_intersection_module/config/intersection.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,14 @@
min_vehicle_brake_for_rss: -2.5 # [m/s^2]
max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
denoise_kernel: 1.0 # [m]
possible_object_bbox: [1.0, 2.0] # [m x m]
ignore_parked_vehicle_speed_threshold: 0.333 # == 1.2km/h
stop_release_margin_time: 1.0 # [s]
possible_object_bbox: [1.5, 2.5] # [m x m]
ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
stop_release_margin_time: 1.5 # [s]
temporal_stop_before_attention_area: false

enable_rtc:
intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
intersection_to_occlusion: true

enable_rtc: # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
intersection: true
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46 changes: 34 additions & 12 deletions planning/behavior_velocity_intersection_module/src/debug.cpp
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Expand Up @@ -104,7 +104,33 @@ visualization_msgs::msg::MarkerArray createPoseMarkerArray(
return msg;
}

visualization_msgs::msg::Marker createPointMarkerArray(
visualization_msgs::msg::MarkerArray createLineMarkerArray(
const geometry_msgs::msg::Point & point_start, const geometry_msgs::msg::Point & point_end,
const std::string & ns, const int64_t id, const double r, const double g, const double b)
{
visualization_msgs::msg::MarkerArray msg;

visualization_msgs::msg::Marker marker;
marker.header.frame_id = "map";
marker.ns = ns + "_line";
marker.id = id;
marker.lifetime = rclcpp::Duration::from_seconds(0.3);
marker.type = visualization_msgs::msg::Marker::ARROW;
marker.action = visualization_msgs::msg::Marker::ADD;
geometry_msgs::msg::Vector3 arrow;
arrow.x = 1.0;
arrow.y = 1.0;
arrow.z = 1.0;
marker.scale = arrow;
marker.color = createMarkerColor(r, g, b, 0.999);
marker.points.push_back(point_start);
marker.points.push_back(point_end);

msg.markers.push_back(marker);
return msg;
}

[[maybe_unused]] visualization_msgs::msg::Marker createPointMarkerArray(
const geometry_msgs::msg::Point & point, const std::string & ns, const int64_t id, const double r,
const double g, const double b)
{
Expand Down Expand Up @@ -176,17 +202,6 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
&debug_marker_array, now);
}

if (debug_data_.nearest_occlusion_point) {
debug_marker_array.markers.push_back(createPointMarkerArray(
debug_data_.nearest_occlusion_point.value(), "nearest_occlusion", module_id_, 0.5, 0.5, 0.0));
}

if (debug_data_.nearest_occlusion_projection_point) {
debug_marker_array.markers.push_back(createPointMarkerArray(
debug_data_.nearest_occlusion_projection_point.value(), "nearest_occlusion_projection",
module_id_, 0.5, 0.5, 0.0));
}

size_t i{0};
for (const auto & p : debug_data_.candidate_collision_object_polygons) {
appendMarkerArray(
Expand Down Expand Up @@ -229,6 +244,13 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray(
&debug_marker_array, now);
}

if (debug_data_.nearest_occlusion_projection) {
const auto [point_start, point_end] = debug_data_.nearest_occlusion_projection.value();
appendMarkerArray(
createLineMarkerArray(
point_start, point_end, "nearest_occlusion_projection", lane_id_, 0.5, 0.5, 0.0),
&debug_marker_array, now);
}
return debug_marker_array;
}

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2 changes: 2 additions & 0 deletions planning/behavior_velocity_intersection_module/src/manager.cpp
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Expand Up @@ -115,6 +115,8 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
node.declare_parameter<double>(ns + ".occlusion.ignore_parked_vehicle_speed_threshold");
ip.occlusion.stop_release_margin_time =
node.declare_parameter<double>(ns + ".occlusion.stop_release_margin_time");
ip.occlusion.temporal_stop_before_attention_area =
node.declare_parameter<bool>(ns + ".occlusion.temporal_stop_before_attention_area");
}

void IntersectionModuleManager::launchNewModules(
Expand Down
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