Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(avoidance): expand detection area to prevent chattering #5267

Merged
merged 2 commits into from
Oct 12, 2023
Merged

fix(avoidance): expand detection area to prevent chattering #5267

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
5d511c7
fix(avoidance): expand detection area to prevent chattering
satoshi-ota Oct 10, 2023
8bff07b
Merge branch 'main' into fix/avoidance-request-chattering-2
satoshi-ota Oct 12, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -164,7 +164,7 @@ std::vector<ExtendedPredictedObject> getSafetyCheckTargetObjects(
std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
const PathWithLaneId & path, const std::shared_ptr<const PlannerData> & planner_data,
const AvoidancePlanningData & data, const std::shared_ptr<AvoidanceParameters> & parameters,
DebugData & debug);
const bool is_running, DebugData & debug);

DrivableLanes generateExpandDrivableLanes(
const lanelet::ConstLanelet & lanelet, const std::shared_ptr<const PlannerData> & planner_data,
Expand Down
6 changes: 5 additions & 1 deletion planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -292,12 +292,16 @@ void AvoidanceModule::fillAvoidanceTargetObjects(
using utils::avoidance::filterTargetObjects;
using utils::avoidance::getTargetLanelets;

// Add margin in order to prevent avoidance request chattering only when the module is running.
const auto is_running = getCurrentStatus() == ModuleStatus::RUNNING ||
getCurrentStatus() == ModuleStatus::WAITING_APPROVAL;

// Separate dynamic objects based on whether they are inside or outside of the expanded lanelets.
const auto [object_within_target_lane, object_outside_target_lane] =
utils::avoidance::separateObjectsByPath(
utils::resamplePathWithSpline(
helper_.getPreviousSplineShiftPath().path, parameters_->resample_interval_for_output),
planner_data_, data, parameters_, debug);
planner_data_, data, parameters_, is_running, debug);

for (const auto & object : object_outside_target_lane.objects) {
ObjectData other_object;
Expand Down
24 changes: 23 additions & 1 deletion planning/behavior_path_planner/src/utils/avoidance/utils.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,12 @@

#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>

#include <boost/geometry.hpp>
#include <boost/geometry/algorithms/convex_hull.hpp>
#include <boost/geometry/algorithms/correct.hpp>
#include <boost/geometry/algorithms/union.hpp>
#include <boost/geometry/geometries/geometries.hpp>
#include <boost/geometry/geometries/point_xy.hpp>
#include <boost/geometry/strategies/convex_hull.hpp>

#include <lanelet2_routing/RoutingGraphContainer.h>
Expand Down Expand Up @@ -1602,7 +1605,7 @@ std::vector<ExtendedPredictedObject> getSafetyCheckTargetObjects(
std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
const PathWithLaneId & path, const std::shared_ptr<const PlannerData> & planner_data,
const AvoidancePlanningData & data, const std::shared_ptr<AvoidanceParameters> & parameters,
DebugData & debug)
const bool is_running, DebugData & debug)
{
PredictedObjects target_objects;
PredictedObjects other_objects;
Expand Down Expand Up @@ -1639,6 +1642,25 @@ std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
}
}

// expand detection area width only when the module is running.
if (is_running) {
constexpr int PER_CIRCLE = 36;
constexpr double MARGIN = 1.0; // [m]
boost::geometry::strategy::buffer::distance_symmetric<double> distance_strategy(MARGIN);
boost::geometry::strategy::buffer::join_round join_strategy(PER_CIRCLE);
boost::geometry::strategy::buffer::end_round end_strategy(PER_CIRCLE);
boost::geometry::strategy::buffer::point_circle circle_strategy(PER_CIRCLE);
boost::geometry::strategy::buffer::side_straight side_strategy;
boost::geometry::model::multi_polygon<Polygon2d> result;
// Create the buffer of a multi polygon
boost::geometry::buffer(
attention_area, result, distance_strategy, side_strategy, join_strategy, end_strategy,
circle_strategy);
if (!result.empty()) {
attention_area = result.front();
}
}

debug.detection_area = toMsg(attention_area, data.reference_pose.position.z);

const auto objects = planner_data->dynamic_object->objects;
Expand Down