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feat(behavior_path_planner): remove unnecessary code and clean turn s…
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…ignal decider (autowarefoundation#2494)

* feat(behavior_path_planner): clean drivable area code

Signed-off-by: yutaka <purewater0901@gmail.com>

* make a function for turn signal decider

Signed-off-by: yutaka <purewater0901@gmail.com>

Signed-off-by: yutaka <purewater0901@gmail.com>
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purewater0901 authored Dec 13, 2022
1 parent fafe1d8 commit f1a9a96
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Showing 3 changed files with 35 additions and 302 deletions.
7 changes: 7 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,6 +172,13 @@ class BehaviorPathPlannerNode : public rclcpp::Node
bool skipSmoothGoalConnection(
const std::vector<std::shared_ptr<SceneModuleStatus>> & statuses) const;

/**
* @brief skip smooth goal connection
*/
void computeTurnSignal(
const std::shared_ptr<PlannerData> planner_data, const PathWithLaneId & path,
const BehaviorModuleOutput & output);

// debug
rclcpp::Publisher<MarkerArray>::SharedPtr debug_drivable_area_lanelets_publisher_;
rclcpp::Publisher<AvoidanceDebugMsgArray>::SharedPtr debug_avoidance_msg_array_publisher_;
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42 changes: 23 additions & 19 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -628,25 +628,8 @@ void BehaviorPathPlannerNode::run()
// update planner data
planner_data_->prev_output_path = path;

// for turn signal
{
TurnIndicatorsCommand turn_signal;
HazardLightsCommand hazard_signal;
if (output.turn_signal_info.hazard_signal.command == HazardLightsCommand::ENABLE) {
turn_signal.command = TurnIndicatorsCommand::DISABLE;
hazard_signal.command = output.turn_signal_info.hazard_signal.command;
} else {
turn_signal =
turn_signal_decider_.getTurnSignal(planner_data, *path, output.turn_signal_info);
hazard_signal.command = HazardLightsCommand::DISABLE;
}
turn_signal.stamp = get_clock()->now();
hazard_signal.stamp = get_clock()->now();
turn_signal_publisher_->publish(turn_signal);
hazard_signal_publisher_->publish(hazard_signal);

publish_steering_factor(turn_signal);
}
// compute turn signal
computeTurnSignal(planner_data, *path, output);

// unlock planner data
mutex_pd_.unlock();
Expand Down Expand Up @@ -679,6 +662,27 @@ void BehaviorPathPlannerNode::run()
RCLCPP_DEBUG(get_logger(), "----- behavior path planner end -----\n\n");
}

void BehaviorPathPlannerNode::computeTurnSignal(
const std::shared_ptr<PlannerData> planner_data, const PathWithLaneId & path,
const BehaviorModuleOutput & output)
{
TurnIndicatorsCommand turn_signal;
HazardLightsCommand hazard_signal;
if (output.turn_signal_info.hazard_signal.command == HazardLightsCommand::ENABLE) {
turn_signal.command = TurnIndicatorsCommand::DISABLE;
hazard_signal.command = output.turn_signal_info.hazard_signal.command;
} else {
turn_signal = turn_signal_decider_.getTurnSignal(planner_data, path, output.turn_signal_info);
hazard_signal.command = HazardLightsCommand::DISABLE;
}
turn_signal.stamp = get_clock()->now();
hazard_signal.stamp = get_clock()->now();
turn_signal_publisher_->publish(turn_signal);
hazard_signal_publisher_->publish(hazard_signal);

publish_steering_factor(turn_signal);
}

void BehaviorPathPlannerNode::publish_steering_factor(const TurnIndicatorsCommand & turn_signal)
{
const auto [intersection_flag, approaching_intersection_flag] =
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288 changes: 5 additions & 283 deletions planning/behavior_path_planner/src/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,17 +59,10 @@ double calcInterpolatedVelocity(
const double interpolated_vel = std::abs(seg_dist) < 1e-06 ? next_vel : closest_vel;
return interpolated_vel;
}
} // namespace

namespace drivable_area_utils
{
using autoware_auto_planning_msgs::msg::PathWithLaneId;
using geometry_msgs::msg::Pose;
using route_handler::RouteHandler;

template <class T>
size_t findNearestSegmentIndex(
const std::vector<T> & points, const Pose & pose, const double dist_threshold,
const std::vector<T> & points, const geometry_msgs::msg::Pose & pose, const double dist_threshold,
const double yaw_threshold)
{
const auto nearest_idx =
Expand All @@ -80,278 +73,7 @@ size_t findNearestSegmentIndex(

return motion_utils::findNearestSegmentIndex(points, pose.position);
}

double quantize(const double val, const double resolution)
{
return std::round(val / resolution) * resolution;
}

void updateMinMaxPosition(
const Eigen::Vector2d & point, boost::optional<double> & min_x, boost::optional<double> & min_y,
boost::optional<double> & max_x, boost::optional<double> & max_y)
{
min_x = min_x ? std::min(min_x.get(), point.x()) : point.x();
min_y = min_y ? std::min(min_y.get(), point.y()) : point.y();
max_x = max_x ? std::max(max_x.get(), point.x()) : point.x();
max_y = max_y ? std::max(max_y.get(), point.y()) : point.y();
}

bool sumLengthFromTwoPoints(
const Eigen::Vector2d & base_point, const Eigen::Vector2d & target_point,
const double length_threshold, double & sum_length, boost::optional<double> & min_x,
boost::optional<double> & min_y, boost::optional<double> & max_x, boost::optional<double> & max_y)
{
const double norm_length = (base_point - target_point).norm();
sum_length += norm_length;
if (length_threshold < sum_length) {
const double diff_length = norm_length - (sum_length - length_threshold);
const Eigen::Vector2d interpolated_point =
base_point + diff_length * (target_point - base_point).normalized();
updateMinMaxPosition(interpolated_point, min_x, min_y, max_x, max_y);

const bool is_end = true;
return is_end;
}

updateMinMaxPosition(target_point, min_x, min_y, max_x, max_y);
const bool is_end = false;
return is_end;
}

void fillYawFromXY(std::vector<Pose> & points)
{
if (points.size() < 2) {
return;
}

for (size_t i = 0; i < points.size(); ++i) {
const size_t prev_idx = (i == points.size() - 1) ? i - 1 : i;
const size_t next_idx = (i == points.size() - 1) ? i : i + 1;

const double yaw = tier4_autoware_utils::calcAzimuthAngle(
points.at(prev_idx).position, points.at(next_idx).position);
points.at(i).orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
}
}

lanelet::ConstLanelets extractLanesFromPathWithLaneId(
const std::shared_ptr<RouteHandler> & route_handler, const PathWithLaneId & path)
{
// extract "unique" lane ids from path_with_lane_id
std::vector<size_t> path_lane_ids;
for (const auto & path_point : path.points) {
for (const size_t lane_id : path_point.lane_ids) {
if (std::find(path_lane_ids.begin(), path_lane_ids.end(), lane_id) == path_lane_ids.end()) {
path_lane_ids.push_back(lane_id);
}
}
}

// get lanes according to lane ids
lanelet::ConstLanelets path_lanes;
path_lanes.reserve(path_lane_ids.size());
for (const auto path_lane_id : path_lane_ids) {
const auto & lane = route_handler->getLaneletsFromId(static_cast<lanelet::Id>(path_lane_id));
path_lanes.push_back(lane);
}

return path_lanes;
}

size_t getNearestLaneId(const lanelet::ConstLanelets & path_lanes, const Pose & current_pose)
{
lanelet::ConstLanelet closest_lanelet;
if (lanelet::utils::query::getClosestLanelet(path_lanes, current_pose, &closest_lanelet)) {
for (size_t i = 0; i < path_lanes.size(); ++i) {
if (path_lanes.at(i).id() == closest_lanelet.id()) {
return i;
}
}
}
return 0;
}

void updateMinMaxPositionFromForwardLanelet(
const lanelet::ConstLanelets & path_lanes, const std::vector<Pose> & points,
const Pose & current_pose, const double & forward_lane_length, const double & lane_margin,
const size_t & nearest_lane_idx, const size_t & nearest_segment_idx,
const std::function<lanelet::ConstLineString2d(const lanelet::ConstLanelet & lane)> &
get_bound_func,
boost::optional<double> & min_x, boost::optional<double> & min_y, boost::optional<double> & max_x,
boost::optional<double> & max_y)
{
const auto forward_offset_length = motion_utils::calcSignedArcLength(
points, current_pose.position, nearest_segment_idx, nearest_segment_idx);
double sum_length = std::min(forward_offset_length, 0.0);
size_t current_lane_idx = nearest_lane_idx;
auto current_lane = path_lanes.at(current_lane_idx);
size_t current_point_idx = nearest_segment_idx;
while (true) {
const auto & bound = get_bound_func(current_lane);
if (current_point_idx != bound.size() - 1) {
const Eigen::Vector2d & current_point = bound[current_point_idx].basicPoint();
const Eigen::Vector2d & next_point = bound[current_point_idx + 1].basicPoint();
const bool is_end_lane = drivable_area_utils::sumLengthFromTwoPoints(
current_point, next_point, forward_lane_length + lane_margin, sum_length, min_x, min_y,
max_x, max_y);
if (is_end_lane) {
break;
}

++current_point_idx;
} else {
const auto previous_lane = current_lane;
const size_t previous_point_idx = get_bound_func(previous_lane).size() - 1;
const auto & previous_bound = get_bound_func(previous_lane);
drivable_area_utils::updateMinMaxPosition(
previous_bound[previous_point_idx].basicPoint(), min_x, min_y, max_x, max_y);

if (current_lane_idx == path_lanes.size() - 1) {
break;
}

current_lane_idx += 1;
current_lane = path_lanes.at(current_lane_idx);
current_point_idx = 0;
const auto & current_bound = get_bound_func(current_lane);

const Eigen::Vector2d & prev_point = previous_bound[previous_point_idx].basicPoint();
const Eigen::Vector2d & current_point = current_bound[current_point_idx].basicPoint();
const bool is_end_lane = drivable_area_utils::sumLengthFromTwoPoints(
prev_point, current_point, forward_lane_length + lane_margin, sum_length, min_x, min_y,
max_x, max_y);
if (is_end_lane) {
break;
}
}
}
}

void updateMinMaxPositionFromBackwardLanelet(
const lanelet::ConstLanelets & path_lanes, const std::vector<Pose> & points,
const Pose & current_pose, const double & backward_lane_length, const double & lane_margin,
const size_t & nearest_lane_idx, const size_t & nearest_segment_idx,
const std::function<lanelet::ConstLineString2d(const lanelet::ConstLanelet & lane)> &
get_bound_func,
boost::optional<double> & min_x, boost::optional<double> & min_y, boost::optional<double> & max_x,
boost::optional<double> & max_y)
{
size_t current_point_idx = nearest_segment_idx + 1;
const auto backward_offset_length = motion_utils::calcSignedArcLength(
points, nearest_segment_idx + 1, current_pose.position, nearest_segment_idx);
double sum_length = std::min(backward_offset_length, 0.0);
size_t current_lane_idx = nearest_lane_idx;
lanelet::ConstLanelet current_lane = path_lanes.at(current_lane_idx);
while (true) {
const auto & bound = get_bound_func(current_lane);
if (current_point_idx != 0) {
const Eigen::Vector2d & current_point = bound[current_point_idx].basicPoint();
const Eigen::Vector2d & prev_point = bound[current_point_idx - 1].basicPoint();
const bool is_end_lane = drivable_area_utils::sumLengthFromTwoPoints(
current_point, prev_point, backward_lane_length + lane_margin, sum_length, min_x, min_y,
max_x, max_y);
if (is_end_lane) {
break;
}

--current_point_idx;
} else {
const auto next_lane = current_lane;
const size_t next_point_idx = 0;
const auto & next_bound = get_bound_func(next_lane);
drivable_area_utils::updateMinMaxPosition(
next_bound[next_point_idx].basicPoint(), min_x, min_y, max_x, max_y);

if (current_lane_idx == 0) {
break;
}

current_lane_idx -= 1;
current_lane = path_lanes.at(current_lane_idx);
const auto & current_bound = get_bound_func(current_lane);
current_point_idx = current_bound.size() - 1;

const Eigen::Vector2d & next_point = next_bound[next_point_idx].basicPoint();
const Eigen::Vector2d & current_point = current_bound[current_point_idx].basicPoint();
const bool is_end_lane = drivable_area_utils::sumLengthFromTwoPoints(
next_point, current_point, backward_lane_length + lane_margin, sum_length, min_x, min_y,
max_x, max_y);
if (is_end_lane) {
break;
}
}
}
}
std::array<double, 4> getPathScope(
const PathWithLaneId & path, const std::shared_ptr<RouteHandler> & route_handler,
const Pose & current_pose, const double forward_lane_length, const double backward_lane_length,
const double lane_margin, const double max_dist, const double max_yaw)
{
const lanelet::ConstLanelets path_lanes = extractLanesFromPathWithLaneId(route_handler, path);

const size_t nearest_lane_idx = getNearestLaneId(path_lanes, current_pose);

// define functions to get right/left bounds as a vector
const std::vector<std::function<lanelet::ConstLineString2d(const lanelet::ConstLanelet & lane)>>
get_bound_funcs{
[](const lanelet::ConstLanelet & lane) -> lanelet::ConstLineString2d {
return lane.rightBound2d();
},
[](const lanelet::ConstLanelet & lane) -> lanelet::ConstLineString2d {
return lane.leftBound2d();
}};

// calculate min/max x and y
boost::optional<double> min_x;
boost::optional<double> min_y;
boost::optional<double> max_x;
boost::optional<double> max_y;

for (const auto & get_bound_func : get_bound_funcs) {
// search nearest point index to current pose
const auto & nearest_bound = get_bound_func(path_lanes.at(nearest_lane_idx));
if (nearest_bound.empty()) {
continue;
}

const std::vector<Pose> points = std::invoke([&nearest_bound]() {
std::vector<Pose> points;
points.reserve(nearest_bound.size());
for (const auto & point : nearest_bound) { // calculate x and y
Pose p;
p.position.x = point.x();
p.position.y = point.y();
points.push_back(p);
}

fillYawFromXY(points); // calculate yaw
return points;
});

const size_t nearest_segment_idx =
motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
points, current_pose, max_dist, max_yaw);

// forward lanelet
updateMinMaxPositionFromForwardLanelet(
path_lanes, points, current_pose, forward_lane_length, lane_margin, nearest_lane_idx,
nearest_segment_idx, get_bound_func, min_x, min_y, max_x, max_y);

// backward lanelet
updateMinMaxPositionFromBackwardLanelet(
path_lanes, points, current_pose, backward_lane_length, lane_margin, nearest_lane_idx,
nearest_segment_idx, get_bound_func, min_x, min_y, max_x, max_y);
}

if (!min_x || !min_y || !max_x || !max_y) {
const double x = current_pose.position.x;
const double y = current_pose.position.y;
return {x, y, x, y};
}

return {min_x.get(), min_y.get(), max_x.get(), max_y.get()};
}
} // namespace drivable_area_utils
} // namespace

namespace behavior_path_planner::util
{
Expand Down Expand Up @@ -1034,7 +756,7 @@ bool setGoal(
// NOTE: goal does not have valid z, that will be calculated by interpolation here
PathPointWithLaneId refined_goal{};
const size_t closest_seg_idx_for_goal =
drivable_area_utils::findNearestSegmentIndex(input.points, goal, 3.0, M_PI_4);
findNearestSegmentIndex(input.points, goal, 3.0, M_PI_4);
refined_goal.point.pose = goal;
refined_goal.point.pose.position.z =
calcInterpolatedZ(input, goal.position, closest_seg_idx_for_goal);
Expand All @@ -1046,8 +768,8 @@ bool setGoal(
constexpr double goal_to_pre_goal_distance = -1.0;
pre_refined_goal.point.pose =
tier4_autoware_utils::calcOffsetPose(goal, goal_to_pre_goal_distance, 0.0, 0.0);
const size_t closest_seg_idx_for_pre_goal = drivable_area_utils::findNearestSegmentIndex(
input.points, pre_refined_goal.point.pose, 3.0, M_PI_4);
const size_t closest_seg_idx_for_pre_goal =
findNearestSegmentIndex(input.points, pre_refined_goal.point.pose, 3.0, M_PI_4);
pre_refined_goal.point.pose.position.z =
calcInterpolatedZ(input, pre_refined_goal.point.pose.position, closest_seg_idx_for_pre_goal);
pre_refined_goal.point.longitudinal_velocity_mps =
Expand Down

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