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fix(goal_planner): use departure_check_lane for path #9423

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merged 1 commit into from
Nov 22, 2024
Merged

fix(goal_planner): use departure_check_lane for path #9423

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5 changes: 3 additions & 2 deletions .../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,6 @@ std::optional<PullOverPath> GeometricPullOver::plan(
if (road_lanes.empty() || pull_over_lanes.empty()) {
return {};
}
const auto lanes = utils::combineLanelets(road_lanes, pull_over_lanes);

const auto & p = parallel_parking_parameters_;
const double max_steer_angle =
Expand All @@ -69,10 +68,12 @@ std::optional<PullOverPath> GeometricPullOver::plan(
return {};
}

const auto departure_check_lane = goal_planner_utils::createDepartureCheckLanelet(
pull_over_lanes, *planner_data->route_handler, left_side_parking_);
const auto arc_path = planner_.getArcPath();

// check lane departure with road and shoulder lanes
if (lane_departure_checker_.checkPathWillLeaveLane(lanes, arc_path)) return {};
if (lane_departure_checker_.checkPathWillLeaveLane({departure_check_lane}, arc_path)) return {};

auto pull_over_path_opt = PullOverPath::create(
getPlannerType(), id, planner_.getPaths(), planner_.getStartPose(), modified_goal_pose,
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18 changes: 6 additions & 12 deletions ...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -292,18 +292,12 @@ std::optional<PullOverPath> ShiftPullOver::generatePullOverPath(
return is_footprint_in_any_polygon(footprint);
});
});
const bool is_in_lanes = std::invoke([&]() -> bool {
const auto drivable_lanes =
utils::generateDrivableLanesWithShoulderLanes(road_lanes, pull_over_lanes);
const auto & dp = planner_data->drivable_area_expansion_parameters;
const auto expanded_lanes = utils::expandLanelets(
drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset,
dp.drivable_area_types_to_skip);
const auto combined_drivable = utils::combineDrivableLanes(
expanded_lanes, previous_module_output.drivable_area_info.drivable_lanes);
return !lane_departure_checker_.checkPathWillLeaveLane(
utils::transformToLanelets(combined_drivable), pull_over_path.parking_path());
});

const auto departure_check_lane = goal_planner_utils::createDepartureCheckLanelet(
pull_over_lanes, *planner_data->route_handler, left_side_parking_);
const bool is_in_lanes = !lane_departure_checker_.checkPathWillLeaveLane(
{departure_check_lane}, pull_over_path.parking_path());

if (!is_in_parking_lots && !is_in_lanes) {
return {};
}
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