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feat(out_of_lane): also apply lat buffer between the lane and stop pose #7918

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Jul 30, 2024
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feat(out_of_lane): also apply lat buffer between the lane and stop pose #7918

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3 changes: 2 additions & 1 deletion ...elocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml
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Expand Up @@ -28,7 +28,8 @@
action: # action to insert in the trajectory if an object causes a conflict at an overlap
skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed
precision: 0.1 # [m] precision when inserting a stop pose in the trajectory
distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane
longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle
lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle
min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled
slowdown:
distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
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6 changes: 4 additions & 2 deletions ...ity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp
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Expand Up @@ -70,9 +70,11 @@ std::optional<TrajectoryPoint> calculate_last_in_lane_pose(

std::optional<SlowdownToInsert> calculate_slowdown_point(
const EgoData & ego_data, const std::vector<Slowdown> & decisions,
const std::optional<SlowdownToInsert> prev_slowdown_point, PlannerParam params)
const std::optional<SlowdownToInsert> & prev_slowdown_point, PlannerParam params)
{
params.extra_front_offset += params.dist_buffer;
params.extra_front_offset += params.lon_dist_buffer;
params.extra_right_offset += params.lat_dist_buffer;
params.extra_left_offset += params.lat_dist_buffer;
const auto base_footprint = make_base_footprint(params);

// search for the first slowdown decision for which a stop point can be inserted
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2 changes: 1 addition & 1 deletion ...ity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp
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Expand Up @@ -53,6 +53,6 @@ std::optional<TrajectoryPoint> calculate_last_in_lane_pose(
/// @return optional slowdown point to insert in the trajectory
std::optional<SlowdownToInsert> calculate_slowdown_point(
const EgoData & ego_data, const std::vector<Slowdown> & decisions,
const std::optional<SlowdownToInsert> prev_slowdown_point, PlannerParam params);
const std::optional<SlowdownToInsert> & prev_slowdown_point, PlannerParam params);
} // namespace autoware::motion_velocity_planner::out_of_lane
#endif // CALCULATE_SLOWDOWN_POINTS_HPP_
7 changes: 5 additions & 2 deletions ...n_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp
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Expand Up @@ -94,7 +94,9 @@ void OutOfLaneModule::init_parameters(rclcpp::Node & node)
getOrDeclareParameter<bool>(node, ns_ + ".action.skip_if_over_max_decel");
pp.precision = getOrDeclareParameter<double>(node, ns_ + ".action.precision");
pp.min_decision_duration = getOrDeclareParameter<double>(node, ns_ + ".action.min_duration");
pp.dist_buffer = getOrDeclareParameter<double>(node, ns_ + ".action.distance_buffer");
pp.lon_dist_buffer =
getOrDeclareParameter<double>(node, ns_ + ".action.longitudinal_distance_buffer");
pp.lat_dist_buffer = getOrDeclareParameter<double>(node, ns_ + ".action.lateral_distance_buffer");
pp.slow_velocity = getOrDeclareParameter<double>(node, ns_ + ".action.slowdown.velocity");
pp.slow_dist_threshold =
getOrDeclareParameter<double>(node, ns_ + ".action.slowdown.distance_threshold");
Expand Down Expand Up @@ -140,7 +142,8 @@ void OutOfLaneModule::update_parameters(const std::vector<rclcpp::Parameter> & p
updateParam(parameters, ns_ + ".action.skip_if_over_max_decel", pp.skip_if_over_max_decel);
updateParam(parameters, ns_ + ".action.precision", pp.precision);
updateParam(parameters, ns_ + ".action.min_duration", pp.min_decision_duration);
updateParam(parameters, ns_ + ".action.distance_buffer", pp.dist_buffer);
updateParam(parameters, ns_ + ".action.longitudinal_distance_buffer", pp.lon_dist_buffer);
updateParam(parameters, ns_ + ".action.lateral_distance_buffer", pp.lat_dist_buffer);
updateParam(parameters, ns_ + ".action.slowdown.velocity", pp.slow_velocity);
updateParam(parameters, ns_ + ".action.slowdown.distance_threshold", pp.slow_dist_threshold);
updateParam(parameters, ns_ + ".action.stop.distance_threshold", pp.stop_dist_threshold);
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3 changes: 2 additions & 1 deletion planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp
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Expand Up @@ -62,7 +62,8 @@ struct PlannerParam
double overlap_min_dist; // [m] min distance inside another lane to consider an overlap
// action to insert in the trajectory if an object causes a conflict at an overlap
bool skip_if_over_max_decel; // if true, skip the action if it causes more than the max decel
double dist_buffer;
double lon_dist_buffer; // [m] safety distance buffer to keep in front of the ego vehicle
double lat_dist_buffer; // [m] safety distance buffer to keep on the side of the ego vehicle
double slow_velocity;
double slow_dist_threshold;
double stop_dist_threshold;
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