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feat(lane_departure_checker): support path_with_lane_id #1279

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Jul 8, 2022
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feat(lane_departure_checker): support path_with_lane_id #1279

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12 changes: 12 additions & 0 deletions control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <vehicle_info_util/vehicle_info_util.hpp>

#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
#include <autoware_auto_planning_msgs/msg/trajectory_point.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
Expand All @@ -41,6 +42,7 @@
namespace lane_departure_checker
{
using autoware_auto_planning_msgs::msg::HADMapRoute;
using autoware_auto_planning_msgs::msg::PathWithLaneId;
using autoware_auto_planning_msgs::msg::Trajectory;
using autoware_auto_planning_msgs::msg::TrajectoryPoint;
using tier4_autoware_utils::LinearRing2d;
Expand Down Expand Up @@ -95,6 +97,15 @@ class LaneDepartureChecker

void setParam(const Param & param) { param_ = param; }

void setVehicleInfo(const vehicle_info_util::VehicleInfo vehicle_info)
{
vehicle_info_ptr_ = std::make_shared<vehicle_info_util::VehicleInfo>(vehicle_info);
}

bool checkPathWillLeaveLane(const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path);

vehicle_info_util::VehicleInfo vehicle_info_public_;

private:
Param param_;
std::shared_ptr<vehicle_info_util::VehicleInfo> vehicle_info_ptr_;
Expand All @@ -111,6 +122,7 @@ class LaneDepartureChecker
std::vector<LinearRing2d> createVehicleFootprints(
const geometry_msgs::msg::PoseWithCovariance & covariance, const TrajectoryPoints & trajectory,
const Param & param);
std::vector<LinearRing2d> createVehicleFootprints(const PathWithLaneId & path);

static std::vector<LinearRing2d> createVehiclePassingAreas(
const std::vector<LinearRing2d> & vehicle_footprints);
Expand Down
23 changes: 23 additions & 0 deletions control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
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Expand Up @@ -144,6 +144,14 @@ Output LaneDepartureChecker::update(const Input & input)
return output;
}

bool LaneDepartureChecker::checkPathWillLeaveLane(
const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path)
{
std::vector<LinearRing2d> vehicle_footprints = createVehicleFootprints(path);
lanelet::ConstLanelets candidate_lanelets = getCandidateLanelets(lanelets, vehicle_footprints);
return willLeaveLane(candidate_lanelets, vehicle_footprints);
}

PoseDeviation LaneDepartureChecker::calcTrajectoryDeviation(
const Trajectory & trajectory, const geometry_msgs::msg::Pose & pose, const double yaw_threshold)
{
Expand Down Expand Up @@ -234,6 +242,21 @@ std::vector<LinearRing2d> LaneDepartureChecker::createVehicleFootprints(
return vehicle_footprints;
}

std::vector<LinearRing2d> LaneDepartureChecker::createVehicleFootprints(const PathWithLaneId & path)
{
// Create vehicle footprint in base_link coordinate
const auto local_vehicle_footprint = createVehicleFootprint(*vehicle_info_ptr_);

// Create vehicle footprint on each Path point
std::vector<LinearRing2d> vehicle_footprints;
for (const auto & p : path.points) {
vehicle_footprints.push_back(
transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(p.point.pose)));
}

return vehicle_footprints;
}

std::vector<LinearRing2d> LaneDepartureChecker::createVehiclePassingAreas(
const std::vector<LinearRing2d> & vehicle_footprints)
{
Expand Down