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refactor(crosswalk): clean up the structure and create a brief flowchart #7868

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merged 4 commits into from
Jul 18, 2024
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Merged

refactor(crosswalk): clean up the structure and create a brief flowchart #7868

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7d9935d
refactor(crosswalk): clean up the structure and create a brief flowchart
takayuki5168 Jul 5, 2024
e2e855f
update
takayuki5168 Jul 5, 2024
1f3cfa7
fix
takayuki5168 Jul 5, 2024
9cc9086
static stop pose -> default stop pose
takayuki5168 Jul 16, 2024
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35 changes: 35 additions & 0 deletions ...behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,41 @@ This module judges whether the ego should stop in front of the crosswalk in orde
![crosswalk_module](docs/crosswalk_module.svg){width=1100}
</figure>

## Flowchart

```plantuml
@startuml
skinparam monochrome true
title modifyPathVelocity
start
:getPathEndPointsOnCrosswalk;
group apply slow down
:applySlowDownByLanleet2Map;
:applySlowDownByOcclusion;
end group
group calculate stop pose
:getDefaultStopPose;
:resamplePath;
:checkStopForCrosswalkUsers;
:checkStopForStuckVehicles;
end group
group apply stop
:getNearestStopFactor;
:setSafe;
:setDistanceToStop;
if (isActivated() is True?) then (yes)
:planGo;
else (no)
:planStop;
endif
end group
stop
@enduml
```

## Features

### Yield the Way to the Pedestrians
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7 changes: 4 additions & 3 deletions ...or_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp
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Expand Up @@ -97,13 +97,14 @@ std::set<int64_t> getCrosswalkIdSetOnPath(

bool checkRegulatoryElementExistence(const lanelet::LaneletMapPtr & lanelet_map_ptr);

std::vector<geometry_msgs::msg::Point> getPolygonIntersects(
std::optional<std::pair<geometry_msgs::msg::Point, geometry_msgs::msg::Point>>
getPathEndPointsOnCrosswalk(
const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon,
const geometry_msgs::msg::Point & ego_pos, const size_t max_num);
const geometry_msgs::msg::Point & ego_pos);

std::vector<geometry_msgs::msg::Point> getLinestringIntersects(
const PathWithLaneId & ego_path, const lanelet::BasicLineString2d & linestring,
const geometry_msgs::msg::Point & ego_pos, const size_t max_num);
const geometry_msgs::msg::Point & ego_pos);

std::optional<lanelet::ConstLineString3d> getStopLineFromMap(
const lanelet::Id lane_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
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