Update shift path lane departure check

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

planning/behavior_path_start_planner_module/config/start_planner.param.yaml

@@ -13,7 +13,7 @@
       center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
-      check_shift_path_lane_departure: false
+      check_shift_path_lane_departure: true
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp

@@ -46,6 +46,7 @@ struct StartPlannerDebugData
   std::vector<PoseWithVelocityStamped> ego_predicted_path;
   // collision check debug map
   CollisionCheckDebugMap collision_check;
+  lanelet::ConstLanelets departure_check_lanes;
 
   Pose refined_start_pose;
   std::vector<Pose> start_pose_candidates;

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/shift_pull_out.hpp

@@ -50,9 +50,9 @@ class ShiftPullOut : public PullOutPlannerBase
     ShiftedPath & shifted_path, const Pose & start_pose, const Pose & end_pose,
     const double longitudinal_acc, const double lateral_acc);
 
-  void setDrivableLanes(const lanelet::ConstLanelets & drivable_lanes)
+  void setDepartureCheckLanes(const lanelet::ConstLanelets & departure_check_lanes)
   {
-    drivable_lanes_ = drivable_lanes;
+    departure_check_lanes_ = departure_check_lanes;
   }
 
   std::shared_ptr<LaneDepartureChecker> lane_departure_checker_;
@@ -64,7 +64,7 @@ class ShiftPullOut : public PullOutPlannerBase
     const double lon_acc, const double shift_time, const double shift_length,
     const double max_curvature, const double min_distance) const;
 
-  lanelet::ConstLanelets drivable_lanes_;
+  lanelet::ConstLanelets departure_check_lanes_;
 };
 }  // namespace behavior_path_planner
 

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp

@@ -242,8 +242,8 @@ class StartPlannerModule : public SceneModuleInterface
     const std::vector<PoseWithVelocityStamped> & ego_predicted_path) const;
   bool isSafePath() const;
   void setDrivableAreaInfo(BehaviorModuleOutput & output) const;
-  void updateDrivableLanes();
-  lanelet::ConstLanelets createDrivableLanes() const;
+  void updateDepartureCheckLanes();
+  lanelet::ConstLanelets createDepartureCheckLanes() const;
 
   // check if the goal is located behind the ego in the same route segment.
   bool isGoalBehindOfEgoInSameRouteSegment() const;

planning/behavior_path_start_planner_module/src/shift_pull_out.cpp

@@ -88,7 +88,7 @@ std::optional<PullOutPath> ShiftPullOut::plan(const Pose & start_pose, const Pos
       const auto transformed_vehicle_footprint =
         transformVector(vehicle_footprint_, tier4_autoware_utils::pose2transform(pose));
       const bool is_out_of_lane =
-        LaneDepartureChecker::isOutOfLane(drivable_lanes_, transformed_vehicle_footprint);
+        LaneDepartureChecker::isOutOfLane(departure_check_lanes_, transformed_vehicle_footprint);
       if (i <= start_segment_idx) {
         if (!is_out_of_lane) {
           cropped_path.points.push_back(shift_path.points.at(i));
@@ -100,9 +100,16 @@ std::optional<PullOutPath> ShiftPullOut::plan(const Pose & start_pose, const Pos
     shift_path.points = cropped_path.points;
 
     // check lane departure
+    // The method for lane departure checking verifies if the footprint of each point on the path is
+    // contained within a lanelet using `boost::geometry::within`, which incurs a high computational
+    // cost.
+    // TODO(someone): improve the method for detecting lane departures without using
+    // lanelet::ConstLanelets, making it unnecessary to retain departure_check_lanes_ as a member
+    // variable.
     if (
       parameters_.check_shift_path_lane_departure &&
-      lane_departure_checker_->checkPathWillLeaveLane(drivable_lanes_, path_shift_start_to_end)) {
+      lane_departure_checker_->checkPathWillLeaveLane(
+        departure_check_lanes_, path_shift_start_to_end)) {
       continue;
     }
 

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -23,6 +23,7 @@
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <lanelet2_extension/visualization/visualization.hpp>
 #include <magic_enum.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -136,7 +137,7 @@ void StartPlannerModule::initVariables()
   debug_marker_.markers.clear();
   initializeSafetyCheckParameters();
   initializeCollisionCheckDebugMap(debug_data_.collision_check);
-  updateDrivableLanes();
+  updateDepartureCheckLanes();
 }
 
 void StartPlannerModule::updateEgoPredictedPathParams(
@@ -564,7 +565,7 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
 void StartPlannerModule::resetStatus()
 {
   status_ = PullOutStatus{};
-  updateDrivableLanes();
+  updateDepartureCheckLanes();
 }
 
 void StartPlannerModule::incrementPathIndex()
@@ -1202,8 +1203,12 @@ bool StartPlannerModule::isSafePath() const
   const double hysteresis_factor =
     status_.is_safe_dynamic_objects ? 1.0 : safety_check_params_->hysteresis_factor_expand_rate;
 
-  behavior_path_planner::updateSafetyCheckDebugData(
-    debug_data_, filtered_objects, target_objects_on_lane, ego_predicted_path);
+  // debug
+  {
+    debug_data_.filtered_objects = filtered_objects;
+    debug_data_.target_objects_on_lane = target_objects_on_lane;
+    debug_data_.ego_predicted_path = ego_predicted_path;
+  }
 
   return behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS(
     pull_out_path, ego_predicted_path, target_objects_on_lane.on_current_lane,
@@ -1331,19 +1336,23 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons
   }
 }
 
-void StartPlannerModule::updateDrivableLanes()
+void StartPlannerModule::updateDepartureCheckLanes()
 {
-  const auto drivable_lanes = createDrivableLanes();
+  const auto departure_check_lanes = createDepartureCheckLanes();
   for (auto & planner : start_planners_) {
     auto shift_pull_out = std::dynamic_pointer_cast<ShiftPullOut>(planner);
 
     if (shift_pull_out) {
-      shift_pull_out->setDrivableLanes(drivable_lanes);
+      shift_pull_out->setDepartureCheckLanes(departure_check_lanes);
     }
   }
+  // debug
+  {
+    debug_data_.departure_check_lanes = departure_check_lanes;
+  }
 }
 
-lanelet::ConstLanelets StartPlannerModule::createDrivableLanes() const
+lanelet::ConstLanelets StartPlannerModule::createDepartureCheckLanes() const
 {
   const double backward_path_length =
     planner_data_->parameters.backward_path_length + parameters_->max_back_distance;
@@ -1362,13 +1371,14 @@ lanelet::ConstLanelets StartPlannerModule::createDrivableLanes() const
     [this](const auto & pull_out_lane) {
       return planner_data_->route_handler->isShoulderLanelet(pull_out_lane);
     });
-  const auto drivable_lanes = utils::transformToLanelets(
+  const auto departure_check_lanes = utils::transformToLanelets(
     utils::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes));
-  return drivable_lanes;
+  return departure_check_lanes;
 }
 
 void StartPlannerModule::setDebugData()
 {
+  using lanelet::visualization::laneletsAsTriangleMarkerArray;
   using marker_utils::addFootprintMarker;
   using marker_utils::createFootprintMarkerArray;
   using marker_utils::createObjectsMarkerArray;
@@ -1383,6 +1393,12 @@ void StartPlannerModule::setDebugData()
   using tier4_autoware_utils::createMarkerScale;
   using visualization_msgs::msg::Marker;
 
+  const auto red_color = createMarkerColor(1.0, 0.0, 0.0, 0.999);
+  const auto cyan_color = createMarkerColor(0.0, 1.0, 1.0, 0.2);
+  const auto pink_color = createMarkerColor(1.0, 0.5, 0.5, 0.35);
+  const auto purple_color = createMarkerColor(1.0, 0.0, 1.0, 0.99);
+  const auto white_color = createMarkerColor(1.0, 1.0, 1.0, 0.99);
+
   const auto life_time = rclcpp::Duration::from_seconds(1.5);
   auto add = [&](MarkerArray added) {
     for (auto & marker : added.markers) {
@@ -1409,10 +1425,9 @@ void StartPlannerModule::setDebugData()
     if (collision_check_end_pose) {
       add(createPoseMarkerArray(
         *collision_check_end_pose, "static_collision_check_end_pose", 0, 1.0, 0.0, 0.0));
-      auto marker = tier4_autoware_utils::createDefaultMarker(
+      auto marker = createDefaultMarker(
         "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "static_collision_check_end_polygon", 0,
-        Marker::LINE_LIST, tier4_autoware_utils::createMarkerScale(0.1, 0.1, 0.1),
-        tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
+        Marker::LINE_LIST, createMarkerScale(0.1, 0.1, 0.1), red_color);
       const auto footprint = transformVector(
         local_footprint, tier4_autoware_utils::pose2transform(*collision_check_end_pose));
       const double ego_z = planner_data_->self_odometry->pose.pose.position.z;
@@ -1432,13 +1447,13 @@ void StartPlannerModule::setDebugData()
   {
     MarkerArray start_pose_footprint_marker_array{};
     MarkerArray start_pose_text_marker_array{};
-    const auto purple = createMarkerColor(1.0, 0.0, 1.0, 0.99);
     Marker footprint_marker = createDefaultMarker(
       "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "start_pose_candidates", 0, Marker::LINE_STRIP,
-      createMarkerScale(0.2, 0.2, 0.2), purple);
+      createMarkerScale(0.2, 0.2, 0.2), purple_color);
     Marker text_marker = createDefaultMarker(
       "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "start_pose_candidates_idx", 0,
-      visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.3, 0.3, 0.3), purple);
+      visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.3, 0.3, 0.3),
+      purple_color);
     footprint_marker.lifetime = rclcpp::Duration::from_seconds(1.5);
     text_marker.lifetime = rclcpp::Duration::from_seconds(1.5);
     for (size_t i = 0; i < debug_data_.start_pose_candidates.size(); ++i) {
@@ -1459,10 +1474,9 @@ void StartPlannerModule::setDebugData()
   // visualize the footprint from pull_out_start pose to pull_out_end pose along the path
   {
     MarkerArray pull_out_path_footprint_marker_array{};
-    const auto pink = createMarkerColor(1.0, 0.0, 1.0, 0.99);
     Marker pull_out_path_footprint_marker = createDefaultMarker(
       "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "shift_path_footprint", 0, Marker::LINE_STRIP,
-      createMarkerScale(0.2, 0.2, 0.2), pink);
+      createMarkerScale(0.2, 0.2, 0.2), pink_color);
     pull_out_path_footprint_marker.lifetime = rclcpp::Duration::from_seconds(1.5);
     PathWithLaneId path_shift_start_to_end{};
     const auto shift_path = status_.pull_out_path.partial_paths.front();
@@ -1520,8 +1534,7 @@ void StartPlannerModule::setDebugData()
   const auto header = planner_data_->route_handler->getRouteHeader();
   {
     visualization_msgs::msg::MarkerArray planner_type_marker_array{};
-    const auto color = status_.found_pull_out_path ? createMarkerColor(1.0, 1.0, 1.0, 0.99)
-                                                   : createMarkerColor(1.0, 0.0, 0.0, 0.99);
+    const auto color = status_.found_pull_out_path ? white_color : red_color;
     auto marker = createDefaultMarker(
       header.frame_id, header.stamp, "planner_type", 0,
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), color);
@@ -1536,6 +1549,15 @@ void StartPlannerModule::setDebugData()
     planner_type_marker_array.markers.push_back(marker);
     add(planner_type_marker_array);
   }
+
+  add(laneletsAsTriangleMarkerArray(
+    "departure_check_lanes_for_shift_pull_out_path", debug_data_.departure_check_lanes,
+    cyan_color));
+
+  const auto pull_out_lanes = start_planner_utils::getPullOutLanes(
+    planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance);
+  add(laneletsAsTriangleMarkerArray(
+    "pull_out_lanes_for_static_objects_collision_check", pull_out_lanes, pink_color));
 }
 
 void StartPlannerModule::logPullOutStatus(rclcpp::Logger::Level log_level) const