From 90f6046c84d113d2b438cafd371373cc76e56c6d Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 10 Mar 2025 14:39:16 +0900 Subject: [PATCH] rename ahead_stopped -> side_stopped Signed-off-by: Kento Yabuuchi --- .../README.md | 2 +- .../config/obstacle_cruise.param.yaml | 2 +- .../src/obstacle_cruise_module.cpp | 8 ++++---- .../src/obstacle_cruise_module.hpp | 2 +- .../src/parameters.hpp | 6 +++--- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md index 4189a64b1cf68..e382ba1ae71d6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md @@ -41,7 +41,7 @@ The obstacles meeting the following condition are determined as obstacles for yi - The object type is for cruising according to `obstacle_filtering.object_type.*` and it is moving with a speed greater than `obstacle_filtering.yield.stopped_obstacle_velocity_threshold`. - The object is not crossing the ego's trajectory (\*1). -- There is another object of type `obstacle_filtering.object_type.ahead_stopped` stopped in front of the moving obstacle. +- There is another object of type `obstacle_filtering.object_type.side_stopped` stopped in front of the moving obstacle. - The lateral distance (using the ego's trajectory as reference) between both obstacles is less than `obstacle_filtering.yield.max_lat_dist_between_obstacles` - Both obstacles, moving and stopped, are within `obstacle_filtering.yield.lat_distance_threshold` and `obstacle_filtering.yield.lat_distance_threshold` + `obstacle_filtering.yield.max_lat_dist_between_obstacles` lateral distance from the ego's trajectory respectively. diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml index 413b44255bee2..ad79b9a11120d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml @@ -96,7 +96,7 @@ pedestrian: false # If an object does not have this label, the ego vehicle does not assume that the yielded obstacle will cut in due to the object. - ahead_stopped: + side_stopped: unknown: false car: true truck: true diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp index 51fb0d9f981a3..bb2928cbb2631 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp @@ -720,11 +720,11 @@ std::optional ObstacleCruiseModule::create_yield_cruise_obstacle return std::nullopt; } - if (!is_ahead_stopped_obstacle(stopped_object->predicted_object.classification.at(0).label)) { + if (!is_side_stopped_obstacle(stopped_object->predicted_object.classification.at(0).label)) { RCLCPP_DEBUG( logger_, "[Cruise] Ignore yield obstacle (%s) since the corresponding stopped object type is not " - "designated as ahead_stopped.", + "designated as side_stopped.", obj_uuid_str.substr(0, 4).c_str()); return std::nullopt; } @@ -789,9 +789,9 @@ bool ObstacleCruiseModule::is_outside_cruise_obstacle(const uint8_t label) const return std::find(types.begin(), types.end(), label) != types.end(); } -bool ObstacleCruiseModule::is_ahead_stopped_obstacle(const uint8_t label) const +bool ObstacleCruiseModule::is_side_stopped_obstacle(const uint8_t label) const { - const auto & types = obstacle_filtering_param_.ahead_stopped_object_types; + const auto & types = obstacle_filtering_param_.side_stopped_object_types; return std::find(types.begin(), types.end(), label) != types.end(); } diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp index bc303ecfe5901..7c2877c37bd92 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp @@ -124,7 +124,7 @@ class ObstacleCruiseModule : public PluginModuleInterface const rclcpp::Time & predicted_objects_stamp, const std::vector & traj_points); bool is_inside_cruise_obstacle(const uint8_t label) const; bool is_outside_cruise_obstacle(const uint8_t label) const; - bool is_ahead_stopped_obstacle(const uint8_t label) const; + bool is_side_stopped_obstacle(const uint8_t label) const; bool is_cruise_obstacle(const uint8_t label) const; bool is_front_collide_obstacle( const std::vector & traj_points, diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp index d274eb9455564..e4cac0801fbfe 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp @@ -64,7 +64,7 @@ struct ObstacleFilteringParam { std::vector inside_object_types{}; std::vector outside_object_types{}; - std::vector ahead_stopped_object_types{}; + std::vector side_stopped_object_types{}; // bool use_pointcloud{}; double max_lat_margin{}; @@ -94,8 +94,8 @@ struct ObstacleFilteringParam utils::get_target_object_type(node, "obstacle_cruise.obstacle_filtering.object_type.inside."); outside_object_types = utils::get_target_object_type( node, "obstacle_cruise.obstacle_filtering.object_type.outside."); - ahead_stopped_object_types = utils::get_target_object_type( - node, "obstacle_cruise.obstacle_filtering.object_type.ahead_stopped."); + side_stopped_object_types = utils::get_target_object_type( + node, "obstacle_cruise.obstacle_filtering.object_type.side_stopped."); // use_pointcloud = get_or_declare_parameter( // node, "obstacle_cruise.obstacle_filtering.object_type.pointcloud");