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fix(obstacle_stop): accounting for vehicle bumper length when handling point-cloud stop points #10250

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merged 2 commits into from
Mar 10, 2025
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fix(obstacle_stop): accounting for vehicle bumper length when handling point-cloud stop points #10250

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e9fbf3e
fix for point-cloud stop point
PanConChicharron Mar 10, 2025
11467ff
style(pre-commit): autofix
pre-commit-ci[bot] Mar 10, 2025
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22 changes: 12 additions & 10 deletions ...locity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,7 @@
// 4. filter obstacles of point cloud
auto stop_obstacles_for_point_cloud = filter_stop_obstacle_for_point_cloud(
planner_data->current_odometry, raw_trajectory_points, decimated_traj_points,
planner_data->no_ground_pointcloud, planner_data->vehicle_info_,
planner_data->no_ground_pointcloud, planner_data->vehicle_info_, dist_to_bumper,

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planner_data->trajectory_polygon_collision_check,
planner_data->find_index(raw_trajectory_points, planner_data->current_odometry.pose.pose));

Expand Down Expand Up @@ -268,10 +268,9 @@

std::vector<geometry_msgs::msg::Point> stop_collision_points;

// 1. transform pointcloud
pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud_ptr =
std::make_shared<pcl::PointCloud<pcl::PointXYZ>>(pointcloud.pointcloud);
// 2. downsample & cluster pointcloud
// 1. downsample & cluster pointcloud
PointCloud::Ptr filtered_points_ptr(new PointCloud);
pcl::VoxelGrid<pcl::PointXYZ> filter;
filter.setInputCloud(pointcloud_ptr);
Expand All @@ -292,7 +291,7 @@
ec.setInputCloud(filtered_points_ptr);
ec.extract(clusters);

// 3. convert clusters to obstacles
// 2. convert clusters to obstacles
for (const auto & cluster_indices : clusters) {
double ego_to_stop_collision_distance = std::numeric_limits<double>::max();
double lat_dist_from_obstacle_to_traj = std::numeric_limits<double>::max();
Expand Down Expand Up @@ -335,14 +334,14 @@

std::optional<StopObstacle> ObstacleStopModule::create_stop_obstacle_for_point_cloud(
const std::vector<TrajectoryPoint> & traj_points, const rclcpp::Time & stamp,
const geometry_msgs::msg::Point & stop_point) const
const geometry_msgs::msg::Point & stop_point, const double dist_to_bumper) const
{
if (!use_pointcloud_) {
return std::nullopt;
}

const auto dist_to_collide_on_traj =
autoware::motion_utils::calcSignedArcLength(traj_points, 0, stop_point);
autoware::motion_utils::calcSignedArcLength(traj_points, 0, stop_point) - dist_to_bumper;

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const unique_identifier_msgs::msg::UUID obj_uuid;
const auto & obj_uuid_str = autoware_utils::to_hex_string(obj_uuid);
Expand Down Expand Up @@ -444,6 +443,7 @@
const Odometry & odometry, const std::vector<TrajectoryPoint> & traj_points,
const std::vector<TrajectoryPoint> & decimated_traj_points,
const PlannerData::Pointcloud & point_cloud, const VehicleInfo & vehicle_info,
const double dist_to_bumper,
const TrajectoryPolygonCollisionCheck & trajectory_polygon_collision_check, size_t ego_idx)
{
autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_);
Expand All @@ -466,8 +466,8 @@
std::vector<StopObstacle> stop_obstacles;
for (const auto & stop_point : stop_points) {
// Filter obstacles for stop
const auto stop_obstacle =
create_stop_obstacle_for_point_cloud(decimated_traj_points, stop_obstacle_stamp, stop_point);
const auto stop_obstacle = create_stop_obstacle_for_point_cloud(
decimated_traj_points, stop_obstacle_stamp, stop_point, dist_to_bumper);

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if (stop_obstacle) {
stop_obstacles.push_back(*stop_obstacle);
continue;
Expand All @@ -493,8 +493,10 @@

if (min_lat_dist_to_traj_poly < obstacle_filtering_param_.max_lat_margin_against_unknown) {
auto stop_obstacle = *itr;
stop_obstacle.dist_to_collide_on_decimated_traj = autoware::motion_utils::calcSignedArcLength(
decimated_traj_points, 0, stop_obstacle.collision_point);
stop_obstacle.dist_to_collide_on_decimated_traj =
autoware::motion_utils::calcSignedArcLength(
decimated_traj_points, 0, stop_obstacle.collision_point) -

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dist_to_bumper;
past_stop_obstacles.push_back(stop_obstacle);
}

Expand Down
3 changes: 2 additions & 1 deletion ...locity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,7 @@ class ObstacleStopModule : public PluginModuleInterface
const Odometry & odometry, const std::vector<TrajectoryPoint> & traj_points,
const std::vector<TrajectoryPoint> & decimated_traj_points,
const PlannerData::Pointcloud & point_cloud, const VehicleInfo & vehicle_info,
const double dist_to_bumper,
const TrajectoryPolygonCollisionCheck & trajectory_polygon_collision_check, size_t ego_idx);

std::optional<geometry_msgs::msg::Point> plan_stop(
Expand Down Expand Up @@ -188,7 +189,7 @@ class ObstacleStopModule : public PluginModuleInterface

std::optional<StopObstacle> create_stop_obstacle_for_point_cloud(
const std::vector<TrajectoryPoint> & traj_points, const rclcpp::Time & stamp,
const geometry_msgs::msg::Point & stop_point) const;
const geometry_msgs::msg::Point & stop_point, const double dist_to_bumper) const;

std::optional<std::pair<geometry_msgs::msg::Point, double>>
create_collision_point_for_outside_stop_obstacle(
Expand Down
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