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fix: cherry-pick #8997 and #9279 #1735

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merged 2 commits into from
Dec 25, 2024
Merged

fix: cherry-pick #8997 and #9279 #1735

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c76a8c2
refactor(lane_change): refactor code using transient data (#8997)
mkquda Oct 3, 2024
0b18e63
fix(lane_change): correct computation of maximum lane changing length…
mkquda Nov 11, 2024
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15 changes: 9 additions & 6 deletions ...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,9 +142,8 @@ class NormalLaneChange : public LaneChangeBase
FilteredByLanesObjects filterObjectsByLanelets(
const PredictedObjects & objects, const PathWithLaneId & current_lanes_ref_path) const;

PathWithLaneId getPrepareSegment(
const lanelet::ConstLanelets & current_lanes, const double backward_path_length,
const double prepare_length) const override;
bool get_prepare_segment(
PathWithLaneId & prepare_segment, const double prepare_length) const override;

PathWithLaneId getTargetSegment(
const lanelet::ConstLanelets & target_lanes, const Pose & lane_changing_start_pose,
Expand All @@ -155,17 +154,21 @@ class NormalLaneChange : public LaneChangeBase
const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes,
const lanelet::ConstLanelets & target_lanes, const Direction direction = Direction::NONE) const;

std::vector<LaneChangePhaseMetrics> get_prepare_metrics() const;
std::vector<LaneChangePhaseMetrics> get_lane_changing_metrics(
const PathWithLaneId & prep_segment, const LaneChangePhaseMetrics & prep_metrics,
const double shift_length, const double dist_to_reg_element) const;

bool get_lane_change_paths(LaneChangePaths & candidate_paths) const;

LaneChangePath get_candidate_path(
const LaneChangePhaseMetrics & prep_metrics, const LaneChangePhaseMetrics & lc_metrics,
const PathWithLaneId & prep_segment, const std::vector<std::vector<int64_t>> & sorted_lane_ids,
const Pose & lc_start_pose, const double target_lane_length, const double shift_length,
const double next_lc_buffer, const bool is_goal_in_route) const;
const Pose & lc_start_pose, const double shift_length) const;

bool check_candidate_path_safety(
const LaneChangePath & candidate_path, const lane_change::TargetObjects & target_objects,
const double lane_change_buffer, const bool is_stuck) const;
const bool is_stuck) const;

std::optional<LaneChangePath> calcTerminalLaneChangePath(
const lanelet::ConstLanelets & current_lanes,
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5 changes: 2 additions & 3 deletions ...lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
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Expand Up @@ -238,9 +238,8 @@ class LaneChangeBase
protected:
virtual int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const = 0;

virtual PathWithLaneId getPrepareSegment(
const lanelet::ConstLanelets & current_lanes, const double backward_path_length,
const double prepare_length) const = 0;
virtual bool get_prepare_segment(
PathWithLaneId & prepare_segment, const double prepare_length) const = 0;

virtual bool isValidPath(const PathWithLaneId & path) const = 0;

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5 changes: 5 additions & 0 deletions ...ne_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
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Expand Up @@ -338,6 +338,11 @@ struct TransientData
double max_prepare_length{
std::numeric_limits<double>::max()}; // maximum prepare length, starting from ego's base link

double target_lane_length{std::numeric_limits<double>::min()};

lanelet::ArcCoordinates current_lanes_ego_arc; // arc coordinates of ego pose along current lanes
lanelet::ArcCoordinates target_lanes_ego_arc; // arc coordinates of ego pose along target lanes

bool is_ego_near_current_terminal_start{false};
};

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16 changes: 5 additions & 11 deletions ...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
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Expand Up @@ -79,9 +79,7 @@ std::vector<int64_t> replaceWithSortedIds(
const std::vector<int64_t> & original_lane_ids,
const std::vector<std::vector<int64_t>> & sorted_lane_ids);

std::vector<std::vector<int64_t>> getSortedLaneIds(
const RouteHandler & route_handler, const Pose & current_pose,
const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes);
std::vector<std::vector<int64_t>> get_sorted_lane_ids(const CommonDataPtr & common_data_ptr);

lanelet::ConstLanelets getTargetNeighborLanes(
const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes,
Expand All @@ -104,12 +102,9 @@ ShiftLine get_lane_changing_shift_line(
const Pose & lane_changing_start_pose, const Pose & lane_changing_end_pose,
const PathWithLaneId & reference_path, const double shift_length);

PathWithLaneId getReferencePathFromTargetLane(
const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes,
const Pose & lane_changing_start_pose, const double target_lane_length,
const double lane_changing_length, const double forward_path_length,
const double resample_interval, const bool is_goal_in_route,
const double next_lane_change_buffer);
PathWithLaneId get_reference_path_from_target_Lane(
const CommonDataPtr & common_data_ptr, const Pose & lane_changing_start_pose,
const double lane_changing_length, const double resample_interval);

std::vector<DrivableLanes> generateDrivableLanes(
const std::vector<DrivableLanes> & original_drivable_lanes, const RouteHandler & route_handler,
Expand Down Expand Up @@ -145,8 +140,7 @@ bool isParkedObject(

bool passed_parked_objects(
const CommonDataPtr & common_data_ptr, const LaneChangePath & lane_change_path,
const std::vector<ExtendedPredictedObject> & objects, const double minimum_lane_change_length,
CollisionCheckDebugMap & object_debug);
const std::vector<ExtendedPredictedObject> & objects, CollisionCheckDebugMap & object_debug);

std::optional<size_t> getLeadingStaticObjectIdx(
const RouteHandler & route_handler, const LaneChangePath & lane_change_path,
Expand Down
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