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

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merged 4 commits into from
Jun 15, 2023
Merged

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

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f65a1e2
feat(behavior_path_planner): add a length ratio parameter for lane ch…
purewater0901 Jun 15, 2023
732d359
add guard
purewater0901 Jun 15, 2023
290bb71
refactor(behavior_path_planner): refactor lane change turn signal info
purewater0901 Jun 15, 2023
bf466c4
fix conflict
purewater0901 Jun 15, 2023
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2 changes: 1 addition & 1 deletion ...havior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;

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2 changes: 1 addition & 1 deletion ...g/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
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Expand Up @@ -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;
};
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1 change: 0 additions & 1 deletion ...ehavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp
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Expand Up @@ -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>;
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3 changes: 0 additions & 3 deletions planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
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Expand Up @@ -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);
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15 changes: 3 additions & 12 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Expand Up @@ -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;
}

Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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
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9 changes: 0 additions & 9 deletions planning/behavior_path_planner/src/utils/lane_change/utils.cpp
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Expand Up @@ -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)
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