refactor(behavior_path_planner): refactor lane change turn signal info (#3985)

* feat(behavior_path_planner): add a length ratio parameter for lane change turn signal deactivation

Signed-off-by: yutaka <purewater0901@gmail.com>

* add guard

Signed-off-by: yutaka <purewater0901@gmail.com>

* refactor(behavior_path_planner): refactor lane change turn signal info

Signed-off-by: yutaka <purewater0901@gmail.com>

---------

Signed-off-by: yutaka <purewater0901@gmail.com>

Author: purewater0901

planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp

@@ -199,7 +199,7 @@ class LaneChangeBase
 
   virtual std::vector<DrivableLanes> getDrivableLanes() const = 0;
 
-  virtual void calcTurnSignalInfo() = 0;
+  virtual TurnSignalInfo calcTurnSignalInfo() = 0;
 
   virtual bool isValidPath(const PathWithLaneId & path) const = 0;
 

planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp

@@ -102,7 +102,7 @@ class NormalLaneChange : public LaneChangeBase
 
   std::vector<DrivableLanes> getDrivableLanes() const override;
 
-  void calcTurnSignalInfo() override;
+  TurnSignalInfo calcTurnSignalInfo() override;
 
   bool isValidPath(const PathWithLaneId & path) const override;
 };

planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp

@@ -39,7 +39,6 @@ struct LaneChangePath
   double acceleration{0.0};
   LaneChangePhaseInfo length{};
   LaneChangePhaseInfo duration{};
-  TurnSignalInfo turn_signal_info{};
   PathWithLaneId prev_path{};
 };
 using LaneChangePaths = std::vector<LaneChangePath>;

planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp

@@ -131,9 +131,6 @@ PathWithLaneId getTargetSegment(
   const double target_lane_length, const double lane_changing_length,
   const double lane_changing_velocity, const double total_required_min_dist);
 
-void get_turn_signal_info(
-  const LaneChangePath & lane_change_path, TurnSignalInfo * turn_signal_info);
-
 std::vector<DrivableLanes> generateDrivableLanes(
   const std::vector<DrivableLanes> original_drivable_lanes, const RouteHandler & route_handler,
   const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & lane_change_lanes);

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

@@ -235,22 +235,13 @@ void NormalLaneChange::resetParameters()
 
 TurnSignalInfo NormalLaneChange::updateOutputTurnSignal()
 {
-  calcTurnSignalInfo();
-  TurnSignalInfo turn_signal_info;
+  TurnSignalInfo turn_signal_info = calcTurnSignalInfo();
   const auto [turn_signal_command, distance_to_vehicle_front] = utils::getPathTurnSignal(
     status_.current_lanes, status_.lane_change_path.shifted_path,
     status_.lane_change_path.shift_line, getEgoPose(), getEgoTwist().linear.x,
     planner_data_->parameters);
   turn_signal_info.turn_signal.command = turn_signal_command.command;
 
-  turn_signal_info.desired_start_point =
-    status_.lane_change_path.turn_signal_info.desired_start_point;
-  turn_signal_info.required_start_point =
-    status_.lane_change_path.turn_signal_info.required_start_point;
-  turn_signal_info.required_end_point =
-    status_.lane_change_path.turn_signal_info.required_end_point;
-  turn_signal_info.desired_end_point = status_.lane_change_path.turn_signal_info.desired_end_point;
-
   return turn_signal_info;
 }
 
@@ -772,7 +763,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const
   return safety_status;
 }
 
-void NormalLaneChange::calcTurnSignalInfo()
+TurnSignalInfo NormalLaneChange::calcTurnSignalInfo()
 {
   const auto get_blinker_pose = [](const PathWithLaneId & path, const double length) {
     double accumulated_length = 0.0;
@@ -819,7 +810,7 @@ void NormalLaneChange::calcTurnSignalInfo()
   const auto mid_lane_change_length = path.length.lane_changing / 2;
   turn_signal_info.required_end_point = get_blinker_pose(shifted_path, mid_lane_change_length);
 
-  status_.lane_change_path.turn_signal_info = turn_signal_info;
+  return turn_signal_info;
 }
 
 bool NormalLaneChange::isValidPath(const PathWithLaneId & path) const

planning/behavior_path_planner/src/utils/lane_change/utils.cpp

@@ -590,15 +590,6 @@ ShiftLine getLaneChangingShiftLine(
   return shift_line;
 }
 
-void get_turn_signal_info(
-  const LaneChangePath & lane_change_path, TurnSignalInfo * turn_signal_info)
-{
-  turn_signal_info->desired_start_point = lane_change_path.turn_signal_info.desired_start_point;
-  turn_signal_info->required_start_point = lane_change_path.turn_signal_info.required_start_point;
-  turn_signal_info->required_end_point = lane_change_path.turn_signal_info.required_end_point;
-  turn_signal_info->desired_end_point = lane_change_path.turn_signal_info.desired_end_point;
-}
-
 std::vector<DrivableLanes> generateDrivableLanes(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes,
   const lanelet::ConstLanelets & lane_change_lanes)