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fix(behavior_path): fix base points vanishing and inconsistent lane_ids on the spline interpolated path #929

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merged 6 commits into from
Oct 13, 2023
Merged

fix(behavior_path): fix base points vanishing and inconsistent lane_ids on the spline interpolated path #929

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ff30b25
add base points to resampled path in behavior_path
h-ohta Oct 12, 2023
e6dd540
Revert "fix(behavior_path): only apply spline interpolation for its o…
h-ohta Oct 12, 2023
6ef72fa
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 12, 2023
2e29b83
fix insert
h-ohta Oct 12, 2023
046c467
fix: not interpolate behavior velocity path
h-ohta Oct 12, 2023
2f2ded4
Revert "Revert "fix(behavior_path): only apply spline interpolation f…
h-ohta Oct 13, 2023
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34 changes: 24 additions & 10 deletions planning/behavior_path_planner/src/path_utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,18 @@ double calcPathArcLength(const PathWithLaneId & path, size_t start, size_t end)
PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interval)
{
const auto base_points = calcPathArcLengthArray(path);
const auto sampling_points = tier4_autoware_utils::arange(0.0, base_points.back(), interval);
auto sampling_points = tier4_autoware_utils::arange(0.0, base_points.back(), interval);

constexpr double epsilon = 0.01;
for (const auto & b : base_points) {
const auto is_almost_same_value = std::find_if(
sampling_points.begin(), sampling_points.end(),
[&](const auto v) { return std::abs(v - b) < epsilon; });
if (is_almost_same_value == sampling_points.end()) {
sampling_points.push_back(b);
}
}
std::sort(sampling_points.begin(), sampling_points.end());

if (base_points.empty() || sampling_points.empty()) {
return path;
Expand Down Expand Up @@ -122,22 +133,25 @@ PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interv

// For LaneIds, Type, Twist
//
// ------|----|----|----|----|----|----|-------> resampled
// [0] [1] [2] [3] [4] [5] [6]
// ------|----|----|----|----|----|----|----|--------> resampled
// [0] [1] [2] [3] [4] [5] [6] [7]
//
// --------|---------------|----------|---------> base
// [0] [1] [2]
// ------|---------------|----------|-------|---> base
// [0] [1] [2] [3]
//
// resampled[0~3] = base[0]
// resampled[4~5] = base[1]
// resampled[6] = base[2]
// resampled[0] = base[0]
// resampled[1~3] = base[1]
// resampled[4~5] = base[2]
// resampled[6~7] = base[3]
//
size_t base_idx{0};
for (size_t i = 0; i < resampled_path.points.size(); ++i) {
while (base_idx < base_points.size() - 1 && sampling_points.at(i) > base_points.at(base_idx)) {
while (base_idx < base_points.size() - 1 &&
((sampling_points.at(i) > base_points.at(base_idx)) ||
(sampling_points.at(i) - base_points.at(base_idx)) > 1e-3)) {
++base_idx;
}
size_t ref_idx = std::max(static_cast<int>(base_idx) - 1, 0);
size_t ref_idx = std::max(static_cast<int>(base_idx), 0);
if (i == resampled_path.points.size() - 1) {
ref_idx = base_points.size() - 1; // for last point
}
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_velocity_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -420,10 +420,10 @@ void BehaviorVelocityPlannerNode::onTrigger(
const auto filtered_path = filterLitterPathPoint(to_path(velocity_planned_path));

// interpolation
const auto interpolated_path_msg = interpolatePath(filtered_path, forward_path_length_);
// const auto interpolated_path_msg = interpolatePath(filtered_path, forward_path_length_);

// check stop point
auto output_path_msg = filterStopPathPoint(interpolated_path_msg);
auto output_path_msg = filterStopPathPoint(filtered_path);
output_path_msg.header.frame_id = "map";
output_path_msg.header.stamp = this->now();

Expand Down