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fix(start_planner): issue when ego does not straddle lane bounds and starts from 0 speed #7004

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merged 2 commits into from
May 15, 2024
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fix(start_planner): issue when ego does not straddle lane bounds and starts from 0 speed #7004

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d890bb5
fix issue when ego does not straddle lane bounds and starts from 0 speed
danielsanchezaran May 14, 2024
85cef5a
add new status for ego departed
danielsanchezaran May 15, 2024
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5 changes: 4 additions & 1 deletion planning/behavior_path_planner_common/src/turn_signal_decider.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 8.46 to 8.54, 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 @@ -731,10 +731,13 @@
return std::make_pair(TurnSignalInfo{}, true);
}

if (!straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) {
// Check if the ego will cross lane bounds.
// Note that pull out requires blinkers, even if the ego does not cross lane bounds
if (!is_pull_out && !straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) {
return std::make_pair(TurnSignalInfo{}, true);
}

// If the ego has stopped and its close to completing its shift, turn off the blinkers

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❌ Getting worse: Complex Method 

TurnSignalDecider::getBehaviorTurnSignalInfo increases in cyclomatic complexity from 23 to 24, 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.
constexpr double STOPPED_THRESHOLD = 0.1; // [m/s]
if (ego_speed < STOPPED_THRESHOLD && !override_ego_stopped_check) {
if (isNearEndOfShift(
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11 changes: 9 additions & 2 deletions planning/behavior_path_start_planner_module/src/start_planner_module.cpp
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@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

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ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1352 to 1358, 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 @@ -241,9 +241,12 @@
DEBUG_PRINT("StartPlannerModule::updateData() received new route, reset status");
}

constexpr double moving_velocity_threshold = 0.1;
const double & ego_velocity = planner_data_->self_odometry->twist.twist.linear.x;
if (
planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&
status_.driving_forward && !status_.first_engaged_and_driving_forward_time) {
status_.driving_forward && !status_.first_engaged_and_driving_forward_time &&

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❌ Getting worse: Complex Conditional 

StartPlannerModule::updateData increases from 1 complex conditionals with 2 branches to 1 complex conditionals with 3 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
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Can you keep this condition as before, and

ego_velocity > moving_velocity_threshold) {

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ℹ Getting worse: Complex Method 

StartPlannerModule::updateData increases in cyclomatic complexity from 9 to 10, 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.
status_.first_engaged_and_driving_forward_time = clock_->now();
}

Expand Down Expand Up @@ -1265,8 +1268,12 @@
// In Geometric pull out, the ego stops once and then steers the wheels to the opposite direction.
// This sometimes causes the getBehaviorTurnSignalInfo method to detect the ego as stopped and
// close to complete its shift, so it wrongly turns off the blinkers, this override helps avoid
// this issue.
// this issue. Also, if the ego is not engaged (so it is stopped), the blinkers should still be
// activated.
const bool override_ego_stopped_check = std::invoke([&]() {
if (!status_.first_engaged_and_driving_forward_time) {
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@soblin soblin May 14, 2024 •
edited
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and change this condition to needToPrepareBlinkerBeforeStratDrivingForward() or (ego_velocity > moving_velocity_threshold) ?

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@soblin I cannot check the current speed, I need a check that tells me if at some point in the PAST the ego has moved faster than the threshold speed. So this approach cannot work.

return true;
}
if (status_.planner_type != PlannerType::GEOMETRIC) {
return false;
}
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