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feat(avoidance): keep enough distance to avoid object in front of red signal (#6898) #1335

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merged 1 commit into from
Jun 13, 2024
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feat(avoidance): keep enough distance to avoid object in front of red signal (#6898) #1335

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3 changes: 3 additions & 0 deletions ...ng/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ enum class ObjectInfo {
// unavoidable reasons
NEED_DECELERATION,
SAME_DIRECTION_SHIFT,
LIMIT_DRIVABLE_SPACE_TEMPORARY,
INSUFFICIENT_DRIVABLE_SPACE,
INSUFFICIENT_LONGITUDINAL_DISTANCE,
INVALID_SHIFT_LINE,
Expand Down Expand Up @@ -548,6 +549,8 @@ struct AvoidancePlanningData
// nearest object that should be avoid
std::optional<ObjectData> stop_target_object{std::nullopt};

std::optional<lanelet::ConstLanelet> red_signal_lane{std::nullopt};

// new shift point
AvoidLineArray new_shift_line{};

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5 changes: 5 additions & 0 deletions planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
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Expand Up @@ -348,6 +348,11 @@ class AvoidanceHelper
return false;
}

// can avoid it after relax drivable space limitation.
if (object.info == ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY) {
return false;
}

return true;
}

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4 changes: 4 additions & 0 deletions planning/behavior_path_avoidance_module/src/scene.cpp
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Expand Up @@ -204,6 +204,9 @@ void AvoidanceModule::fillFundamentalData(AvoidancePlanningData & data, DebugDat
utils::avoidance::isWithinLanes(data.current_lanelets, planner_data_);
const auto red_signal_lane_itr = std::find_if(
data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) {
if (utils::traffic_light::isTrafficSignalStop({lanelet}, planner_data_)) {
return true;
}
const auto next_lanes = planner_data_->route_handler->getNextLanelets(lanelet);
return utils::traffic_light::isTrafficSignalStop(next_lanes, planner_data_);
});
Expand All @@ -220,6 +223,7 @@ void AvoidanceModule::fillFundamentalData(AvoidancePlanningData & data, DebugDat
utils::avoidance::generateExpandedDrivableLanes(lanelet, planner_data_, parameters_));
} else {
data.drivable_lanes.push_back(utils::avoidance::generateNotExpandedDrivableLanes(lanelet));
data.red_signal_lane = lanelet;
}
});

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8 changes: 7 additions & 1 deletion planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
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Expand Up @@ -246,7 +246,13 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
AvoidOutlines outlines;
for (auto & o : data.target_objects) {
if (!o.avoid_margin.has_value()) {
o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;
if (!data.red_signal_lane.has_value()) {
o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;
} else if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
o.info = ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY;
} else {
o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;
}
if (o.avoid_required && is_forward_object(o)) {
break;
} else {
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