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2 parents 984e240 + 8ff40fb commit b632aeb

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planning/behavior_velocity_blind_spot_module/src/scene.cpp

+3-1
Original file line numberDiff line numberDiff line change
@@ -348,7 +348,7 @@ bool BlindSpotModule::checkObstacleInBlindSpot(
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lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr,
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const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
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const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr,
351-
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) const
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const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose)
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{
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/* get detection area */
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if (turn_direction_ == TurnDirection::INVALID) {
@@ -409,6 +409,8 @@ bool BlindSpotModule::checkObstacleInBlindSpot(
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exist_in_right_conflict_area || exist_in_opposite_conflict_area;
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if (exist_in_detection_area && exist_in_conflict_area) {
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debug_data_.conflicting_targets.objects.push_back(object);
412+
setObjectsOfInterestData(
413+
object.kinematics.initial_pose_with_covariance.pose, object.shape, ColorName::RED);
412414
return true;
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}
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}

planning/behavior_velocity_blind_spot_module/src/scene.hpp

+1-1
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@@ -113,7 +113,7 @@ class BlindSpotModule : public SceneModuleInterface
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lanelet::routing::RoutingGraphPtr routing_graph_ptr,
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const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
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const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr,
116-
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) const;
116+
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose);
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/**
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* @brief Create half lanelet

planning/behavior_velocity_intersection_module/CMakeLists.txt

+9-2
Original file line numberDiff line numberDiff line change
@@ -8,11 +8,18 @@ pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
88
find_package(OpenCV REQUIRED)
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1010
ament_auto_add_library(${PROJECT_NAME} SHARED
11-
src/debug.cpp
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src/manager.cpp
12+
src/util.cpp
1313
src/scene_intersection.cpp
14+
src/intersection_lanelets.cpp
15+
src/object_manager.cpp
16+
src/decision_result.cpp
17+
src/scene_intersection_prepare_data.cpp
18+
src/scene_intersection_stuck.cpp
19+
src/scene_intersection_occlusion.cpp
20+
src/scene_intersection_collision.cpp
1421
src/scene_merge_from_private_road.cpp
15-
src/util.cpp
22+
src/debug.cpp
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)
1724

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target_link_libraries(${PROJECT_NAME}

planning/behavior_velocity_intersection_module/README.md

+59-27
Large diffs are not rendered by default.

planning/behavior_velocity_intersection_module/config/intersection.param.yaml

+3-1
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@
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max_accel: -2.8
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max_jerk: -5.0
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delay_response_time: 0.5
15+
enable_pass_judge_before_default_stopline: false
1516

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stuck_vehicle:
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turn_direction:
@@ -36,7 +37,6 @@
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consider_wrong_direction_vehicle: false
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collision_detection_hold_time: 0.5
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min_predicted_path_confidence: 0.05
39-
keep_detection_velocity_threshold: 0.833
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velocity_profile:
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use_upstream: true
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minimum_upstream_velocity: 0.01
@@ -59,6 +59,8 @@
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object_expected_deceleration: 2.0
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ignore_on_red_traffic_light:
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object_margin_to_path: 2.0
62+
avoid_collision_by_acceleration:
63+
object_time_margin_to_collision_point: 4.0
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occlusion:
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enable: false

planning/behavior_velocity_intersection_module/docs/pass-judge-line.drawio.svg

+473
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planning/behavior_velocity_intersection_module/package.xml

+2-1
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@@ -22,18 +22,19 @@
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<depend>autoware_auto_planning_msgs</depend>
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<depend>autoware_perception_msgs</depend>
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<depend>behavior_velocity_planner_common</depend>
25+
<depend>fmt</depend>
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<depend>geometry_msgs</depend>
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<depend>interpolation</depend>
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<depend>lanelet2_extension</depend>
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<depend>libopencv-dev</depend>
30+
<depend>magic_enum</depend>
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<depend>motion_utils</depend>
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<depend>nav_msgs</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>route_handler</depend>
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<depend>rtc_interface</depend>
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<depend>tf2_geometry_msgs</depend>
36-
<depend>tier4_api_msgs</depend>
3738
<depend>tier4_autoware_utils</depend>
3839
<depend>tier4_planning_msgs</depend>
3940
<depend>vehicle_info_util</depend>

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