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feat(intersection): suppress pass judge sudden stop #963

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merged 4 commits into from
Oct 18, 2023
Merged

feat(intersection): suppress pass judge sudden stop #963

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e0d1b04
feat(intersection): move pass judge line backward
takayuki5168 Oct 18, 2023
3e187cd
disable pass judge sudden stop
takayuki5168 Oct 18, 2023
b42d8ce
update config
takayuki5168 Oct 18, 2023
1793075
fix
takayuki5168 Oct 18, 2023
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2 changes: 2 additions & 0 deletions planning/behavior_velocity_intersection_module/config/intersection.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@
use_intersection_area: false
path_interpolation_ds: 0.1 # [m]
consider_wrong_direction_vehicle: false
disable_pass_judge_sudden_stop: false
enable_peeking_pass_judge: false
stuck_vehicle:
turn_direction:
left: true
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4 changes: 4 additions & 0 deletions planning/behavior_velocity_intersection_module/src/manager.cpp
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Expand Up @@ -62,6 +62,10 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
getOrDeclareParameter<double>(node, ns + ".common.path_interpolation_ds");
ip.common.consider_wrong_direction_vehicle =
getOrDeclareParameter<bool>(node, ns + ".common.consider_wrong_direction_vehicle");
ip.common.disable_pass_judge_sudden_stop =
getOrDeclareParameter<bool>(node, ns + ".common.disable_pass_judge_sudden_stop");
ip.common.enable_peeking_pass_judge =
getOrDeclareParameter<bool>(node, ns + ".common.enable_peeking_pass_judge");

ip.stuck_vehicle.turn_direction.left =
getOrDeclareParameter<bool>(node, ns + ".stuck_vehicle.turn_direction.left");
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6 changes: 4 additions & 2 deletions planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
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Expand Up @@ -978,7 +978,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
const auto intersection_stop_lines_opt = util::generateIntersectionStopLines(
first_conflicting_area, dummy_first_attention_area, planner_data_, interpolated_path_info,
planner_param_.stuck_vehicle.use_stuck_stopline, planner_param_.common.stop_line_margin,
peeking_offset, path);
planner_param_.common.enable_peeking_pass_judge, peeking_offset, path);
if (!intersection_stop_lines_opt) {
return IntersectionModule::Indecisive{"failed to generate intersection_stop_lines"};
}
Expand Down Expand Up @@ -1085,7 +1085,9 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
logger_, "is_over_default_stop_line && !is_over_pass_judge_line && keep_detection");
// do nothing
} else if (
(was_safe && is_over_default_stop_line && is_over_pass_judge_line && is_go_out_) ||
(was_safe &&
(is_over_default_stop_line || planner_param_.common.disable_pass_judge_sudden_stop) &&
is_over_pass_judge_line && is_go_out_) ||
is_permanent_go_) {
// is_go_out_: previous RTC approval
// activated_: current RTC approval
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2 changes: 2 additions & 0 deletions planning/behavior_velocity_intersection_module/src/scene_intersection.hpp
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Expand Up @@ -58,6 +58,8 @@ class IntersectionModule : public SceneModuleInterface
double stop_overshoot_margin; //! overshoot margin for stuck, collision detection
bool use_intersection_area;
bool consider_wrong_direction_vehicle;
bool disable_pass_judge_sudden_stop;
bool enable_peeking_pass_judge;
double path_interpolation_ds;
} common;
struct StuckVehicle
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6 changes: 3 additions & 3 deletions planning/behavior_velocity_intersection_module/src/util.cpp
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Expand Up @@ -266,7 +266,7 @@ std::optional<IntersectionStopLines> generateIntersectionStopLines(
const lanelet::CompoundPolygon3d & first_detection_area,
const std::shared_ptr<const PlannerData> & planner_data,
const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline,
const double stop_line_margin, const double peeking_offset,
const double stop_line_margin, const bool enable_peeking_pass_judge, const double peeking_offset,
autoware_auto_planning_msgs::msg::PathWithLaneId * original_path)
{
const auto & path_ip = interpolated_path_info.path;
Expand Down Expand Up @@ -416,8 +416,8 @@ std::optional<IntersectionStopLines> generateIntersectionStopLines(
intersection_stop_lines_temp.default_stop_line;
}
if (
intersection_stop_lines_temp.occlusion_peeking_stop_line >
intersection_stop_lines_temp.pass_judge_line) {
enable_peeking_pass_judge && (intersection_stop_lines_temp.occlusion_peeking_stop_line >
intersection_stop_lines_temp.pass_judge_line)) {
intersection_stop_lines_temp.pass_judge_line =
intersection_stop_lines_temp.occlusion_peeking_stop_line;
}
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2 changes: 1 addition & 1 deletion planning/behavior_velocity_intersection_module/src/util.hpp
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Expand Up @@ -70,7 +70,7 @@ std::optional<IntersectionStopLines> generateIntersectionStopLines(
const lanelet::CompoundPolygon3d & first_detection_area,
const std::shared_ptr<const PlannerData> & planner_data,
const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline,
const double stop_line_margin, const double peeking_offset,
const double stop_line_margin, const bool enable_peeking_pass_judge, const double peeking_offset,
autoware_auto_planning_msgs::msg::PathWithLaneId * original_path);

std::optional<size_t> getFirstPointInsidePolygon(
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