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feat(behavior_velocity): add velocity smoother to behavior velocity (#…
…497) * feat(behavior_velocity): add external velocity limit and velocity smoother to behavior velocity * feat(behavior_velocity): add smooth method Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): apply experimental feedback Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: Makoto Kurihara <mkuri8m@gmail.com> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp>
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planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp
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| // Copyright 2021 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef UTILIZATION__TRAJECTORY_UTILS_HPP_ | ||
| #define UTILIZATION__TRAJECTORY_UTILS_HPP_ | ||
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| #include <behavior_velocity_planner/planner_data.hpp> | ||
| #include <interpolation/linear_interpolation.hpp> | ||
| #include <motion_velocity_smoother/trajectory_utils.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <tier4_autoware_utils/trajectory/trajectory.hpp> | ||
| #include <utilization/boost_geometry_helper.hpp> | ||
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| #include <autoware_auto_planning_msgs/msg/path_point_with_lane_id.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> | ||
| #include <geometry_msgs/msg/quaternion.hpp> | ||
| #include <geometry_msgs/msg/twist_stamped.hpp> | ||
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| #include <tf2/utils.h> | ||
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| #include <algorithm> | ||
| #include <limits> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <utility> | ||
| #include <vector> | ||
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| namespace behavior_velocity_planner | ||
| { | ||
| using autoware_auto_planning_msgs::msg::PathPointWithLaneId; | ||
| using autoware_auto_planning_msgs::msg::PathWithLaneId; | ||
| using autoware_auto_planning_msgs::msg::Trajectory; | ||
| using autoware_auto_planning_msgs::msg::TrajectoryPoint; | ||
| using TrajectoryPoints = std::vector<TrajectoryPoint>; | ||
| using geometry_msgs::msg::Quaternion; | ||
| using TrajectoryPointWithIdx = std::pair<TrajectoryPoint, size_t>; | ||
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| inline TrajectoryPoints convertPathToTrajectoryPoints(const PathWithLaneId & path) | ||
| { | ||
| TrajectoryPoints tps; | ||
| for (const auto & p : path.points) { | ||
| TrajectoryPoint tp; | ||
| tp.pose = p.point.pose; | ||
| tp.longitudinal_velocity_mps = p.point.longitudinal_velocity_mps; | ||
| // since path point doesn't have acc for now | ||
| tp.acceleration_mps2 = 0; | ||
| tps.emplace_back(tp); | ||
| } | ||
| return tps; | ||
| } | ||
| inline PathWithLaneId convertTrajectoryPointsToPath(const TrajectoryPoints & trajectory) | ||
| { | ||
| PathWithLaneId path; | ||
| for (const auto & p : trajectory) { | ||
| PathPointWithLaneId pp; | ||
| pp.point.pose = p.pose; | ||
| pp.point.longitudinal_velocity_mps = p.longitudinal_velocity_mps; | ||
| path.points.emplace_back(pp); | ||
| } | ||
| return path; | ||
| } | ||
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| inline Quaternion lerpOrientation( | ||
| const Quaternion & o_from, const Quaternion & o_to, const double ratio) | ||
| { | ||
| tf2::Quaternion q_from, q_to; | ||
| tf2::fromMsg(o_from, q_from); | ||
| tf2::fromMsg(o_to, q_to); | ||
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| const auto q_interpolated = q_from.slerp(q_to, ratio); | ||
| return tf2::toMsg(q_interpolated); | ||
| } | ||
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| /** | ||
| * @brief apply linear interpolation to trajectory point that is nearest to a certain point | ||
| * @param [in] points trajectory points | ||
| * @param [in] point Interpolated point is nearest to this point. | ||
| */ | ||
| template <class T> | ||
| TrajectoryPointWithIdx getLerpTrajectoryPointWithIdx( | ||
| const T & points, const geometry_msgs::msg::Point & point) | ||
| { | ||
| TrajectoryPoint interpolated_point; | ||
| const size_t nearest_seg_idx = tier4_autoware_utils::findNearestSegmentIndex(points, point); | ||
| const double len_to_interpolated = | ||
| tier4_autoware_utils::calcLongitudinalOffsetToSegment(points, nearest_seg_idx, point); | ||
| const double len_segment = | ||
| tier4_autoware_utils::calcSignedArcLength(points, nearest_seg_idx, nearest_seg_idx + 1); | ||
| const double interpolate_ratio = std::clamp(len_to_interpolated / len_segment, 0.0, 1.0); | ||
| { | ||
| const size_t i = nearest_seg_idx; | ||
| const auto & pos0 = points.at(i).pose.position; | ||
| const auto & pos1 = points.at(i + 1).pose.position; | ||
| interpolated_point.pose.position.x = interpolation::lerp(pos0.x, pos1.x, interpolate_ratio); | ||
| interpolated_point.pose.position.y = interpolation::lerp(pos0.y, pos1.y, interpolate_ratio); | ||
| interpolated_point.pose.position.z = interpolation::lerp(pos0.z, pos1.z, interpolate_ratio); | ||
| interpolated_point.pose.orientation = lerpOrientation( | ||
| points.at(i).pose.orientation, points.at(i + 1).pose.orientation, interpolate_ratio); | ||
| interpolated_point.longitudinal_velocity_mps = interpolation::lerp( | ||
| points.at(i).longitudinal_velocity_mps, points.at(i + 1).longitudinal_velocity_mps, | ||
| interpolate_ratio); | ||
| interpolated_point.lateral_velocity_mps = interpolation::lerp( | ||
| points.at(i).lateral_velocity_mps, points.at(i + 1).lateral_velocity_mps, interpolate_ratio); | ||
| interpolated_point.acceleration_mps2 = interpolation::lerp( | ||
| points.at(i).acceleration_mps2, points.at(i + 1).acceleration_mps2, interpolate_ratio); | ||
| interpolated_point.heading_rate_rps = interpolation::lerp( | ||
| points.at(i).heading_rate_rps, points.at(i + 1).heading_rate_rps, interpolate_ratio); | ||
| } | ||
| return std::make_pair(interpolated_point, nearest_seg_idx); | ||
| } | ||
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| //! smooth path point with lane id starts from ego position on path to the path end | ||
| inline bool smoothPath( | ||
| const PathWithLaneId & in_path, PathWithLaneId & out_path, | ||
| const std::shared_ptr<const PlannerData> & planner_data) | ||
| { | ||
| using tier4_autoware_utils::findNearestIndex; | ||
| const geometry_msgs::msg::Pose current_pose = planner_data->current_pose.pose; | ||
| const double v0 = planner_data->current_velocity->twist.linear.x; | ||
| const double a0 = planner_data->current_accel.get(); | ||
| const auto & external_v_limit = planner_data->external_velocity_limit; | ||
| const auto & smoother = planner_data->velocity_smoother_; | ||
| const double max = std::numeric_limits<double>::max(); | ||
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| auto trajectory = convertPathToTrajectoryPoints(in_path); | ||
| if (external_v_limit) { | ||
| motion_velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( | ||
| 0, trajectory.size(), external_v_limit->max_velocity, trajectory); | ||
| } | ||
| const auto traj_lateral_acc_filtered = smoother->applyLateralAccelerationFilter(trajectory); | ||
| // calc ego internal division point on path | ||
| const auto traj_with_ego_point_with_idx = | ||
| getLerpTrajectoryPointWithIdx(*traj_lateral_acc_filtered, current_pose.position); | ||
| TrajectoryPoints traj_with_ego_point_on_path = *traj_lateral_acc_filtered; | ||
| TrajectoryPoint ego_point_on_path = traj_with_ego_point_with_idx.first; | ||
| const size_t nearest_seg_idx = traj_with_ego_point_with_idx.second; | ||
| //! insert ego projected pose on path so new nearest segment will be nearest_seg_idx + 1 | ||
| traj_with_ego_point_on_path.insert( | ||
| traj_with_ego_point_on_path.begin() + nearest_seg_idx, ego_point_on_path); | ||
| // Resample trajectory with ego-velocity based interval distances | ||
| auto traj_resampled = | ||
| smoother->resampleTrajectory(traj_with_ego_point_on_path, v0, nearest_seg_idx + 1); | ||
| const auto traj_resampled_closest = findNearestIndex(*traj_resampled, current_pose, max, M_PI_4); | ||
| std::vector<TrajectoryPoints> debug_trajectories; | ||
| // Clip trajectory from closest point | ||
| TrajectoryPoints clipped; | ||
| TrajectoryPoints traj_smoothed; | ||
| clipped.insert( | ||
| clipped.end(), traj_resampled->begin() + *traj_resampled_closest, traj_resampled->end()); | ||
| if (!smoother->apply(v0, a0, clipped, traj_smoothed, debug_trajectories)) { | ||
| std::cerr << "[behavior_velocity][trajectory_utils]: failed to smooth" << std::endl; | ||
| return false; | ||
| } | ||
| traj_smoothed.insert( | ||
| traj_smoothed.begin(), traj_resampled->begin(), | ||
| traj_resampled->begin() + *traj_resampled_closest); | ||
| out_path = convertTrajectoryPointsToPath(traj_smoothed); | ||
| return true; | ||
| } | ||
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| } // namespace behavior_velocity_planner | ||
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| #endif // UTILIZATION__TRAJECTORY_UTILS_HPP_ |
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