fix(turn_signal, lane_change, goal_planner): add optional to tackle l…

…ane change turn signal and pull over turn signal (#1467)

fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (autowarefoundation#8463)

* add optional to tackle LC turn signal and pull over turn signal



* CPP file should not re-define default value; typo in copying from internal repos



---------

Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>

planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp

@@ -1856,6 +1856,8 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo()
   constexpr bool is_driving_forward = true;
 
   constexpr bool is_pull_out = false;
+  constexpr bool is_lane_change = false;
+  constexpr bool is_pull_over = true;
   const bool override_ego_stopped_check = std::invoke([&]() {
     if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::SHIFT) {
       return false;
@@ -1870,7 +1872,7 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo()
 
   const auto [new_signal, is_ignore] = planner_data_->getBehaviorTurnSignalInfo(
     path, shift_start_idx, shift_end_idx, current_lanes, current_shift_length, is_driving_forward,
-    egos_lane_is_shifted, override_ego_stopped_check, is_pull_out);
+    egos_lane_is_shifted, override_ego_stopped_check, is_pull_out, is_lane_change, is_pull_over);
   ignore_signal_ = update_ignore_signal(closest_lanelet.id(), is_ignore);
 
   return new_signal;

planning/behavior_path_lane_change_module/src/scene.cpp

@@ -560,10 +560,12 @@ TurnSignalInfo NormalLaneChange::updateOutputTurnSignal() const
   // The getBehaviorTurnSignalInfo method expects the shifted line to be generated off of the ego's
   // current lane, lane change is different, so we set this flag to false.
   constexpr bool egos_lane_is_shifted = false;
+  constexpr bool is_pull_out = false;
+  constexpr bool is_lane_change = true;
 
   const auto [new_signal, is_ignore] = planner_data_->getBehaviorTurnSignalInfo(
     shift_path, shift_line, current_lanes, current_shift_length, is_driving_forward,
-    egos_lane_is_shifted);
+    egos_lane_is_shifted, is_pull_out, is_lane_change);
   return new_signal;
 }
 

planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp

@@ -173,7 +173,8 @@ struct PlannerData
     const PathWithLaneId & path, const size_t shift_start_idx, const size_t shift_end_idx,
     const lanelet::ConstLanelets & current_lanelets, const double current_shift_length,
     const bool is_driving_forward, const bool egos_lane_is_shifted,
-    const bool override_ego_stopped_check = false, const bool is_pull_out = false) const
+    const bool override_ego_stopped_check = false, const bool is_pull_out = false,
+    const bool is_lane_change = false, const bool is_pull_over = false) const
   {
     if (shift_start_idx + 1 > path.points.size()) {
       RCLCPP_WARN(rclcpp::get_logger(__func__), "index inconsistency.");
@@ -210,7 +211,7 @@ struct PlannerData
     return turn_signal_decider.getBehaviorTurnSignalInfo(
       shifted_path, shift_line, current_lanelets, route_handler, parameters, self_odometry,
       current_shift_length, is_driving_forward, egos_lane_is_shifted, override_ego_stopped_check,
-      is_pull_out);
+      is_pull_out, is_lane_change, is_pull_over);
   }
 
   std::pair<TurnSignalInfo, bool> getBehaviorTurnSignalInfo(

planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp

@@ -134,7 +134,8 @@ class TurnSignalDecider
     const BehaviorPathPlannerParameters & parameters, const Odometry::ConstSharedPtr self_odometry,
     const double current_shift_length, const bool is_driving_forward,
     const bool egos_lane_is_shifted, const bool override_ego_stopped_check = false,
-    const bool is_pull_out = false) const;
+    const bool is_pull_out = false, const bool is_lane_change = false,
+    const bool is_pull_over = false) const;
 
 private:
   std::optional<TurnSignalInfo> getIntersectionTurnSignalInfo(

planning/behavior_path_planner_common/src/turn_signal_decider.cpp

@@ -654,7 +654,8 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
   const std::shared_ptr<RouteHandler> route_handler,
   const BehaviorPathPlannerParameters & parameters, const Odometry::ConstSharedPtr self_odometry,
   const double current_shift_length, const bool is_driving_forward, const bool egos_lane_is_shifted,
-  const bool override_ego_stopped_check, const bool is_pull_out) const
+  const bool override_ego_stopped_check, const bool is_pull_out, const bool is_lane_change,
+  const bool is_pull_over) const
 {
   constexpr double THRESHOLD = 0.1;
   using tier4_autoware_utils::getPose;
@@ -771,15 +772,18 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
     right_same_direction_lane.has_value() || !right_opposite_lanes.empty();
 
   if (
-    !is_pull_out && !existShiftSideLane(
-                      start_shift_length, end_shift_length, !has_left_lane, !has_right_lane,
-                      p.turn_signal_shift_length_threshold)) {
+    (!is_pull_out && !is_lane_change && !is_pull_over) &&
+    !existShiftSideLane(
+      start_shift_length, end_shift_length, !has_left_lane, !has_right_lane,
+      p.turn_signal_shift_length_threshold)) {
     return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
   }
 
   // Check if the ego will cross lane bounds.
   // Note that pull out requires blinkers, even if the ego does not cross lane bounds
-  if (!is_pull_out && !straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) {
+  if (
+    (!is_pull_out && !is_pull_over) &&
+    !straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) {
     return std::make_pair(TurnSignalInfo(p_path_start, p_path_end), true);
   }