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fix(behavior_velocity_planner): planning factor integration #10292

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merged 11 commits into from
Mar 18, 2025
Merged

fix(behavior_velocity_planner): planning factor integration #10292

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1722bc6
fix: blind_spot
satoshi-ota Mar 18, 2025
229a6be
fix: crosswalk
satoshi-ota Mar 18, 2025
e4b7585
fix: detection_area
satoshi-ota Mar 18, 2025
4d1c210
fix: intersection
satoshi-ota Mar 18, 2025
0b059bc
fix: no_drivable_lane
satoshi-ota Mar 18, 2025
f852367
fix: no_stopping_area
satoshi-ota Mar 18, 2025
f1fc608
fix: run_out
satoshi-ota Mar 18, 2025
01bd5e3
fix: stop_line
satoshi-ota Mar 18, 2025
372beab
fix: traffic_light
satoshi-ota Mar 18, 2025
ee66804
fix: virtual_traffic_light
satoshi-ota Mar 18, 2025
466e6bf
fix: walk_way
satoshi-ota Mar 18, 2025
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4 changes: 2 additions & 2 deletions .../behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ void BlindSpotModule::reactRTCApprovalByDecision(

const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose;
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "blind_spot(module is judging as UNSAFE)");
Expand Down Expand Up @@ -136,7 +136,7 @@ void BlindSpotModule::reactRTCApprovalByDecision(

const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose;
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "blind_spot(module is judging as SAFE and RTC is not approved)");
Expand Down
4 changes: 2 additions & 2 deletions ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -881,7 +881,7 @@ void CrosswalkModule::applySlowDown(
}
if (slowdown_pose)
planning_factor_interface_->add(
output.points, planner_data_->current_odometry->pose, *slowdown_pose, *slowdown_pose,
output.points, planner_data_->current_odometry->pose, *slowdown_pose,
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Maybe we have start & end point for slowdown.

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As far as I read the code, crosswalk module inserts one slow down start point, and all trajectory points are overwritten with same slow down velocity. Then, crosswalk has only one control point as well.

autoware_internal_planning_msgs::msg::PlanningFactor::SLOW_DOWN,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
safety_slow_down_speed, 0.0 /*shift distance*/, "crosswalk_safety_slowdown_for_approaching");
Expand Down Expand Up @@ -1365,7 +1365,7 @@ void CrosswalkModule::planStop(
insertDecelPointWithDebugInfo(stop_factor->stop_pose.position, 0.0, ego_path);
planning_factor_interface_->add(
ego_path.points, planner_data_->current_odometry->pose, stop_factor->stop_pose,
stop_factor->stop_pose, autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
0.0 /*velocity*/, 0.0 /*shift distance*/, "crosswalk_stop");
}
Expand Down
2 changes: 1 addition & 1 deletion .../behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,7 +181,7 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path)
// Create StopReason
{
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "");
Expand Down
32 changes: 15 additions & 17 deletions ...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

Check notice on line 1 in planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1174 to 1172, 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.

Check notice on line 1 in planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Code Duplication 

reduced similar code in: reactRTCApprovalByDecisionResult. Avoid duplicated, aka copy-pasted, code inside the module. More duplication 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 @@ -764,7 +764,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(pure StuckStop)");
Expand All @@ -779,7 +779,6 @@
planning_factor_interface->add(
path->points, path->points.at(closest_idx).point.pose,
path->points.at(occlusion_stopline_idx).point.pose,
path->points.at(occlusion_stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(StuckStop with occlusion)");
Expand Down Expand Up @@ -811,7 +810,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(Yield Stuck)");
Expand Down Expand Up @@ -841,7 +840,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(CollisionStop)");
Expand All @@ -855,7 +854,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)");
Expand Down Expand Up @@ -885,7 +884,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(FirstWaitBeforeOcclusion with collision)");
Expand All @@ -907,7 +906,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(FirstWaitBeforeOcclusion with occlusion)");
Expand Down Expand Up @@ -951,7 +950,6 @@
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(occlusion_peeking_stopline).point.pose,
path->points.at(occlusion_peeking_stopline).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(PeekingToOcclusion)");
Expand All @@ -965,7 +963,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(PeekingToOcclusion while stopping for collision)");
Expand Down Expand Up @@ -995,7 +993,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)");
Expand All @@ -1013,7 +1011,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(CollisionStop with occlusion)");
Expand Down Expand Up @@ -1043,7 +1041,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/,
Expand All @@ -1058,7 +1056,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(Occlusion without traffic light)");
Expand Down Expand Up @@ -1096,7 +1094,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(Safe, but RTC interrupted for collision)");
Expand All @@ -1110,7 +1108,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(Safe, but RTC interrupted for occlusion)");
Expand Down Expand Up @@ -1140,7 +1138,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "intersection(FullyPrioritized, collision detected)");
Expand All @@ -1154,7 +1152,7 @@
{
planning_factor_interface->add(
path->points, path->points.at(decision_result.closest_idx).point.pose,
path->points.at(stopline_idx).point.pose, path->points.at(stopline_idx).point.pose,
path->points.at(stopline_idx).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/,
Expand Down
2 changes: 1 addition & 1 deletion ...nner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
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Expand Up @@ -157,7 +157,7 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path)
/* get stop point and stop factor */
const auto & stop_pose = path->points.at(stopline_idx).point.pose;
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "merge_from_private");
Expand Down
6 changes: 3 additions & 3 deletions ...ehavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp
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Expand Up @@ -167,7 +167,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path)
{
const auto & stop_pose = op_stop_pose.value();
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "");
Expand Down Expand Up @@ -218,7 +218,7 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(PathWithLaneId *
{
const auto & stop_pose = autoware_utils::get_pose(path->points.at(0));
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "");
Expand Down Expand Up @@ -259,7 +259,7 @@ void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path)
{
const auto & stop_pose = ego_pos_on_path.pose;
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "");
Expand Down
2 changes: 1 addition & 1 deletion ...planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
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Expand Up @@ -145,7 +145,7 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path)
// Create StopReason
{
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_point->second, stop_point->second,
path->points, planner_data_->current_odometry->pose, stop_point->second,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "");
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
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Expand Up @@ -768,7 +768,7 @@ bool RunOutModule::insertStopPoint(
planning_utils::insertVelocity(path, stop_point_with_lane_id, stop_point_velocity, insert_idx);

planning_factor_interface_->add(
path.points, planner_data_->current_odometry->pose, stop_point.value(), stop_point.value(),
path.points, planner_data_->current_odometry->pose, stop_point.value(),
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop");
Expand Down Expand Up @@ -884,7 +884,7 @@ void RunOutModule::insertApproachingVelocity(

planning_factor_interface_->add(
output_path.points, planner_data_->current_odometry->pose, stop_point.value(),
stop_point.value(), autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_approaching_velocity");

Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
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Expand Up @@ -67,7 +67,7 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path)
// TODO(soblin): PlanningFactorInterface use trajectory class
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose,
trajectory->compute(*stop_point).point.pose, trajectory->compute(*stop_point).point.pose,
trajectory->compute(*stop_point).point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "stopline");
Expand Down
2 changes: 1 addition & 1 deletion ...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
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Expand Up @@ -296,7 +296,7 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS

planning_factor_interface_->add(
modified_path.points, planner_data_->current_odometry->pose,
target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose,
target_point_with_lane_id.point.pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "traffic_light");
Expand Down
4 changes: 2 additions & 2 deletions ...or_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp
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Expand Up @@ -420,7 +420,7 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine(

// Set StopReason
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "");
Expand Down Expand Up @@ -455,7 +455,7 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine(

// Set StopReason
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose,
path->points, planner_data_->current_odometry->pose, stop_pose,
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0,
0.0 /*shift distance*/, "");
Expand Down
2 changes: 1 addition & 1 deletion ...behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
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Expand Up @@ -123,7 +123,7 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path)

/* get stop point and stop factor */
planning_factor_interface_->add(
path->points, planner_data_->current_odometry->pose, stop_pose.value(), stop_pose.value(),
path->points, planner_data_->current_odometry->pose, stop_pose.value(),
autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/,
0.0 /*velocity*/, 0.0 /*shift distance*/, "walkway_stop");
Expand Down
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