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feat(obstacle_cruise_planner)!: ignore to garze against unknwon objects (#7177) #1331

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Jun 10, 2024
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feat(obstacle_cruise_planner)!: ignore to garze against unknwon objects (#7177) #1331

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3 changes: 2 additions & 1 deletion planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,8 @@
obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop

stop:
max_lat_margin: 0.3 # lateral margin between obstacle and trajectory band with ego's width
max_lat_margin: 0.3 # lateral margin between the obstacles except for unknown and ego's footprint
max_lat_margin_against_unknown: -0.3 # lateral margin between the unknown obstacles and ego's footprint
crossing_obstacle:
collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s]

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1 change: 1 addition & 0 deletions planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp
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Expand Up @@ -195,6 +195,7 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
double prediction_resampling_time_horizon;
// max lateral margin
double max_lat_margin_for_stop;
double max_lat_margin_for_stop_against_unknown;
double max_lat_margin_for_cruise;
double max_lat_margin_for_slow_down;
double lat_hysteresis_margin_for_slow_down;
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21 changes: 16 additions & 5 deletions planning/obstacle_cruise_planner/src/node.cpp
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Expand Up @@ -247,6 +247,8 @@ ObstacleCruisePlannerNode::BehaviorDeterminationParam::BehaviorDeterminationPara

max_lat_margin_for_stop =
node.declare_parameter<double>("behavior_determination.stop.max_lat_margin");
max_lat_margin_for_stop_against_unknown =
node.declare_parameter<double>("behavior_determination.stop.max_lat_margin_against_unknown");
max_lat_margin_for_cruise =
node.declare_parameter<double>("behavior_determination.cruise.max_lat_margin");
enable_yield = node.declare_parameter<bool>("behavior_determination.cruise.yield.enable_yield");
Expand Down Expand Up @@ -311,6 +313,9 @@ void ObstacleCruisePlannerNode::BehaviorDeterminationParam::onParam(

tier4_autoware_utils::updateParam<double>(
parameters, "behavior_determination.stop.max_lat_margin", max_lat_margin_for_stop);
tier4_autoware_utils::updateParam<double>(
parameters, "behavior_determination.stop.max_lat_margin_against_unknown",
max_lat_margin_for_stop_against_unknown);
tier4_autoware_utils::updateParam<double>(
parameters, "behavior_determination.cruise.max_lat_margin", max_lat_margin_for_cruise);
tier4_autoware_utils::updateParam<bool>(
Expand Down Expand Up @@ -680,8 +685,8 @@ std::vector<Obstacle> ObstacleCruisePlannerNode::convertToObstacles(
}();

const double max_lat_margin = std::max(
std::max(p.max_lat_margin_for_stop, p.max_lat_margin_for_cruise),
p.max_lat_margin_for_slow_down);
{p.max_lat_margin_for_stop, p.max_lat_margin_for_stop_against_unknown,
p.max_lat_margin_for_cruise, p.max_lat_margin_for_slow_down});
if (max_lat_margin < min_lat_dist_to_traj_poly) {
RCLCPP_INFO_EXPRESSION(
get_logger(), enable_debug_info_,
Expand Down Expand Up @@ -1171,7 +1176,13 @@ std::optional<StopObstacle> ObstacleCruisePlannerNode::createStopObstacle(
if (!isStopObstacle(obstacle.classification.label)) {
return std::nullopt;
}
if (p.max_lat_margin_for_stop < precise_lat_dist) {

const double max_lat_margin_for_stop =
(obstacle.classification.label == ObjectClassification::UNKNOWN)
? p.max_lat_margin_for_stop_against_unknown
: p.max_lat_margin_for_stop;

if (precise_lat_dist > std::max(max_lat_margin_for_stop, 1e-3)) {
return std::nullopt;
}

Expand Down Expand Up @@ -1204,7 +1215,7 @@ std::optional<StopObstacle> ObstacleCruisePlannerNode::createStopObstacle(
calcObstacleMaxLength(obstacle.shape) + p.decimate_trajectory_step_length +
std::hypot(
vehicle_info_.vehicle_length_m,
vehicle_info_.vehicle_width_m * 0.5 + p.max_lat_margin_for_stop));
vehicle_info_.vehicle_width_m * 0.5 + max_lat_margin_for_stop));
if (collision_points.empty()) {
RCLCPP_INFO_EXPRESSION(
get_logger(), enable_debug_info_,
Expand All @@ -1230,7 +1241,7 @@ std::optional<StopObstacle> ObstacleCruisePlannerNode::createStopObstacle(

// calculate collision points with trajectory with lateral stop margin
const auto traj_polys_with_lat_margin = createOneStepPolygons(
traj_points, vehicle_info_, ego_odom_ptr_->pose.pose, p.max_lat_margin_for_stop);
traj_points, vehicle_info_, ego_odom_ptr_->pose.pose, max_lat_margin_for_stop);

const auto collision_point = polygon_utils::getCollisionPoint(
traj_points, traj_polys_with_lat_margin, obstacle, is_driving_forward_, vehicle_info_);
Expand Down
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