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feat(goal_planner): safety check with only parking path (#9293) #1668

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merged 1 commit into from
Nov 27, 2024
Merged

feat(goal_planner): safety check with only parking path (#9293) #1668

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15 changes: 10 additions & 5 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2158,6 +2158,10 @@ bool GoalPlannerModule::isSafePath(
const std::shared_ptr<ObjectsFilteringParams> & objects_filtering_params,
const std::shared_ptr<SafetyCheckParams> & safety_check_params) const
{
using autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath;
using autoware::behavior_path_planner::utils::path_safety_checker::
filterPredictedPathAfterTargetPose;

if (!found_pull_over_path || !pull_over_path_opt) {
return false;
}
Expand All @@ -2175,7 +2179,6 @@ bool GoalPlannerModule::isSafePath(
const auto pull_over_lanes = goal_planner_utils::getPullOverLanes(
*route_handler, left_side_parking_, parameters.backward_goal_search_length,
parameters.forward_goal_search_length);
const size_t ego_seg_idx = planner_data->findEgoSegmentIndex(current_pull_over_path.points);
const std::pair<double, double> terminal_velocity_and_accel =
pull_over_path.getPairsTerminalVelocityAndAccel();
RCLCPP_DEBUG(
Expand All @@ -2186,10 +2189,12 @@ bool GoalPlannerModule::isSafePath(
// TODO(Sugahara): shoule judge is_object_front properly
const bool is_object_front = true;
const bool limit_to_max_velocity = true;
const auto ego_predicted_path =
autoware::behavior_path_planner::utils::path_safety_checker::createPredictedPath(
ego_predicted_path_params, current_pull_over_path.points, current_pose, current_velocity,
ego_seg_idx, is_object_front, limit_to_max_velocity);
const auto ego_seg_idx = planner_data->findEgoIndex(current_pull_over_path.points);
const auto ego_predicted_path_from_current_pose = createPredictedPath(
ego_predicted_path_params, current_pull_over_path.points, current_pose, current_velocity,
ego_seg_idx, is_object_front, limit_to_max_velocity);
const auto ego_predicted_path = filterPredictedPathAfterTargetPose(
ego_predicted_path_from_current_pose, pull_over_path.start_pose());

// ==========================================================================================
// if ego is before the entry of pull_over_lanes, the beginning of the safety check area
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3 changes: 3 additions & 0 deletions .../include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,9 @@ ExtendedPredictedObjects filterObjectPredictedPathByTimeHorizon(
const ExtendedPredictedObjects & objects, const double time_horizon,
const bool check_all_predicted_path);

std::vector<PoseWithVelocityStamped> filterPredictedPathAfterTargetPose(
const std::vector<PoseWithVelocityStamped> & path, const Pose & target_pose);

bool checkSafetyWithRSS(
const PathWithLaneId & planned_path,
const std::vector<PoseWithVelocityStamped> & ego_predicted_path,
Expand Down
16 changes: 16 additions & 0 deletions ...nner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
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Expand Up @@ -489,6 +489,22 @@ ExtendedPredictedObjects filterObjectPredictedPathByTimeHorizon(
return filtered_objects;
}

std::vector<PoseWithVelocityStamped> filterPredictedPathAfterTargetPose(
const std::vector<PoseWithVelocityStamped> & path, const Pose & target_pose)
{
std::vector<PoseWithVelocityStamped> filtered_path;

const auto target_idx =
std::min_element(path.begin(), path.end(), [&target_pose](const auto & a, const auto & b) {
return calcDistance2d(a.pose.position, target_pose.position) <
calcDistance2d(b.pose.position, target_pose.position);
});

std::copy(target_idx, path.end(), std::back_inserter(filtered_path));

return filtered_path;
};

bool checkSafetyWithRSS(
const PathWithLaneId & planned_path,
const std::vector<PoseWithVelocityStamped> & ego_predicted_path,
Expand Down
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