From d6d26ee21475d1d2a12389e20bb7d21356dbca9d Mon Sep 17 00:00:00 2001
From: Tomohito Ando <tomohito.ando@tier4.jp>
Date: Wed, 21 Feb 2024 15:22:26 +0900
Subject: [PATCH 1/3] feat(behavior_velocity_traffic_light): ensure stopping if
a signal, once received, is not received again."
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
---
planning/behavior_velocity_planner/src/node.cpp | 2 ++
.../behavior_velocity_planner_common/planner_data.hpp | 3 +++
.../behavior_velocity_traffic_light_module/src/scene.cpp | 7 ++++++-
3 files changed, 11 insertions(+), 1 deletion(-)
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index 9fa5634c6dd65..9f18a1a6de816 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -323,6 +323,8 @@ void BehaviorVelocityPlannerNode::onTrafficSignals(
{
std::lock_guard<std::mutex> lock(mutex_);
+ planner_data_.has_received_signal_ = true;
+
// clear previous observation
planner_data_.traffic_light_id_map_raw_.clear();
const auto traffic_light_id_map_last_observed_old =
diff --git a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp b/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp
index 606e41ad4b1d1..23997e34fbfea 100644
--- a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp
+++ b/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/planner_data.hpp
@@ -83,6 +83,9 @@ struct PlannerData
std::optional<tier4_planning_msgs::msg::VelocityLimit> external_velocity_limit;
tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr virtual_traffic_light_states;
+ // this value becomes true once the signal message is received
+ bool has_received_signal_ = false;
+
// velocity smoother
std::shared_ptr<motion_velocity_smoother::SmootherBase> velocity_smoother_;
// route handler
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
index 96cb2c4e1c790..aaca066f88cbe 100644
--- a/planning/behavior_velocity_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -282,10 +282,15 @@ bool TrafficLightModule::isStopSignal()
updateTrafficSignal();
// If it never receives traffic signal, it will PASS.
- if (!traffic_signal_stamp_) {
+ if (!planner_data_->has_received_signal_) {
return false;
}
+ // If the signal data is not received, the ego stops.
+ if (!traffic_signal_stamp_) {
+ return true;
+ }
+
if (isTrafficSignalTimedOut()) {
return true;
}
From 518cda64994a10e7230d798ce458f43bc2580112 Mon Sep 17 00:00:00 2001
From: Tomohito Ando <tomohito.ando@tier4.jp>
Date: Wed, 21 Feb 2024 15:23:50 +0900
Subject: [PATCH 2/3] add comments for clarity
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
---
planning/behavior_velocity_traffic_light_module/src/scene.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
index aaca066f88cbe..3fdb5d514a0e9 100644
--- a/planning/behavior_velocity_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -291,6 +291,7 @@ bool TrafficLightModule::isStopSignal()
return true;
}
+ // If the signal data is timeout, the ego stops.
if (isTrafficSignalTimedOut()) {
return true;
}
From ee820149faa55a274d8bb011c199ad1c90a18ee7 Mon Sep 17 00:00:00 2001
From: Tomohito Ando <tomohito.ando@tier4.jp>
Date: Thu, 22 Feb 2024 09:50:56 +0900
Subject: [PATCH 3/3] fix comments for clarity
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
---
.../src/scene.cpp | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
index 3fdb5d514a0e9..946741b14cf78 100644
--- a/planning/behavior_velocity_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -281,21 +281,25 @@ bool TrafficLightModule::isStopSignal()
{
updateTrafficSignal();
- // If it never receives traffic signal, it will PASS.
+ // Pass through if no traffic signal information has been received yet
+ // This is to prevent stopping on the planning simulator
if (!planner_data_->has_received_signal_) {
return false;
}
- // If the signal data is not received, the ego stops.
+ // Stop if there is no upcoming traffic signal information
+ // This is to safely stop in cases such that traffic light recognition is not working properly or
+ // the map is incorrect
if (!traffic_signal_stamp_) {
return true;
}
- // If the signal data is timeout, the ego stops.
+ // Stop if the traffic signal information has timed out
if (isTrafficSignalTimedOut()) {
return true;
}
+ // Check if the current traffic signal state requires stopping
return traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_);
}