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fix(avoidance): improve avoidance safety check logic #6974

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May 24, 2024
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Original file line number Diff line number Diff line change
Expand Up @@ -97,16 +97,18 @@ class AvoidanceHelper
return std::max(getEgoSpeed(), values.at(idx));
}

double getMinimumPrepareDistance() const
double getNominalPrepareDistance(const double velocity) const
{
const auto & p = parameters_;
return std::max(getEgoSpeed() * p->min_prepare_time, p->min_prepare_distance);
const auto & values = p->velocity_map;
const auto idx = getConstraintsMapIndex(velocity, values);
return std::max(values.at(idx) * p->max_prepare_time, p->min_prepare_distance);
}

double getNominalPrepareDistance() const
{
const auto & p = parameters_;
return std::max(getEgoSpeed() * p->max_prepare_time, p->min_prepare_distance);
return std::max(getAvoidanceEgoSpeed() * p->max_prepare_time, p->min_prepare_distance);
}

double getNominalAvoidanceDistance(const double shift_length) const
Expand Down Expand Up @@ -298,6 +300,13 @@ class AvoidanceHelper
return std::numeric_limits<double>::max();
}

bool isEnoughPrepareDistance(const double prepare_distance) const
{
const auto & p = parameters_;
return prepare_distance >
std::max(getEgoSpeed() * p->min_prepare_distance, p->min_prepare_distance);
}

bool isComfortable(const AvoidLineArray & shift_lines) const
{
const auto JERK_BUFFER = 0.1; // [m/sss]
Expand Down Expand Up @@ -328,7 +337,7 @@ class AvoidanceHelper
const auto desire_shift_length =
getShiftLength(object, is_object_on_right, object.avoid_margin.value());

const auto prepare_distance = getMinimumPrepareDistance();
const auto prepare_distance = getNominalPrepareDistance(0.0);
const auto constant_distance = getFrontConstantDistance(object);
const auto avoidance_distance = getMinAvoidanceDistance(desire_shift_length);

Expand Down
9 changes: 5 additions & 4 deletions planning/behavior_path_avoidance_module/src/scene.cpp
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_avoidance_module/src/scene.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File

The lines of code increases from 1241 to 1242, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -409,9 +409,9 @@
const auto registered_lines = path_shifter_.getShiftLines();
if (!registered_lines.empty()) {
const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points);
const auto to_shift_start_point = motion_utils::calcSignedArcLength(
const auto prepare_distance = motion_utils::calcSignedArcLength(
path_shifter_.getReferencePath().points, idx, registered_lines.front().start_idx);
if (to_shift_start_point < helper_->getMinimumPrepareDistance()) {
if (!helper_->isEnoughPrepareDistance(prepare_distance)) {
RCLCPP_DEBUG(
getLogger(),
"Distance to shift start point is less than minimum prepare distance. The distance is not "
Expand Down Expand Up @@ -1418,10 +1418,11 @@
const auto avoidance_distance = helper_->getMinAvoidanceDistance(
helper_->getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin));
const auto constant_distance = helper_->getFrontConstantDistance(object);
const auto prepare_distance = helper_->getNominalPrepareDistance(0.0);

return object.longitudinal -
std::min(
avoidance_distance + constant_distance + p->min_prepare_distance + p->stop_buffer,
avoidance_distance + constant_distance + prepare_distance + p->stop_buffer,
p->stop_max_distance);
}

Expand Down Expand Up @@ -1450,7 +1451,7 @@
const auto buffer = std::max(0.0, to_shifted_path_end - to_reference_path_end);

const auto min_return_distance =
helper_->getMinAvoidanceDistance(shift_length) + helper_->getMinimumPrepareDistance();
helper_->getMinAvoidanceDistance(shift_length) + helper_->getNominalPrepareDistance(0.0);
const auto to_stop_line = data.to_return_point - min_return_distance - buffer;

// If we don't need to consider deceleration constraints, insert a deceleration point
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -929,7 +929,7 @@ void ShiftLineGenerator::applySmallShiftFilter(
continue;
}

if (s.start_longitudinal + 1e-3 < helper_->getMinimumPrepareDistance()) {
if (!helper_->isEnoughPrepareDistance(s.start_longitudinal)) {
continue;
}

Expand Down Expand Up @@ -1173,13 +1173,13 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine(
std::max(nominal_prepare_distance - last_sl_distance, 0.0);

double prepare_distance_scaled = std::max(
helper_->getMinimumPrepareDistance(), std::max(nominal_prepare_distance, last_sl_distance));
helper_->getNominalPrepareDistance(), std::max(nominal_prepare_distance, last_sl_distance));
double avoid_distance_scaled = nominal_avoid_distance;
if (remaining_distance < prepare_distance_scaled + avoid_distance_scaled) {
const auto scale = (remaining_distance - last_sl_distance) /
std::max(nominal_avoid_distance + variable_prepare_distance, 0.1);
prepare_distance_scaled = std::max(
helper_->getMinimumPrepareDistance(), last_sl_distance + scale * nominal_prepare_distance);
helper_->getNominalPrepareDistance(), last_sl_distance + scale * nominal_prepare_distance);
avoid_distance_scaled *= scale;
}

Expand Down Expand Up @@ -1292,7 +1292,7 @@ AvoidLineArray ShiftLineGenerator::findNewShiftLine(
const auto & candidate = shift_lines.at(i);

// prevent sudden steering.
if (candidate.start_longitudinal + 1e-3 < helper_->getMinimumPrepareDistance()) {
if (!helper_->isEnoughPrepareDistance(candidate.start_longitudinal)) {
break;
}

Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_path_avoidance_module/src/utils.cpp
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_avoidance_module/src/utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity

The mean cyclomatic complexity increases from 5.07 to 5.08, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -1910,7 +1910,7 @@
std::for_each(objects.begin(), objects.end(), [&p, &ret, &parameters](const auto & object) {
if (filtering_utils::isSafetyCheckTargetObjectType(object.object, parameters)) {
// check only moving objects
if (filtering_utils::isMovingObject(object, parameters)) {
if (filtering_utils::isMovingObject(object, parameters) || !object.is_parked) {

Check warning on line 1913 in planning/behavior_path_avoidance_module/src/utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method

getSafetyCheckTargetObjects increases in cyclomatic complexity from 20 to 21, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
ret.objects.push_back(object.object);
}
}
Expand Down
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