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danielsanchezaran
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feat(start_planner): override lane departure check (#1169)
* feat(start_planner): allow lane departure check override (autowarefoundation#6512) * small refactor Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * another refactor Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * further refactoring Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * add param to override lane_departure_check when starting outside lane Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update documentation Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * eliminate merge conflict problems Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Update planning/behavior_path_start_planner_module/src/manager.cpp --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
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‎planning/behavior_path_start_planner_module/README.md

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@@ -211,16 +211,17 @@ Pull out distance is calculated by the speed, lateral deviation, and the lateral
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#### parameters for shift pull out
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| Name | Unit | Type | Description | Default value |
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| :------------------------------ | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ |
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| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true |
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| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | false |
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| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 |
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| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
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| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
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| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 |
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| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
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| maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 |
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| Name | Unit | Type | Description | Default value |
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| :--------------------------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ |
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| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true |
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| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | true |
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| allow_check_shift_path_lane_departure_override | [-] | bool | flag to override/cancel lane departure check if the ego vehicle's starting pose is already out of lane | false |
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| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 |
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| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
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| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 |
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| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 |
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| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
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| maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 |
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### **geometric pull out**
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‎planning/behavior_path_start_planner_module/config/start_planner.param.yaml

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center_line_path_interval: 1.0
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# shift pull out
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enable_shift_pull_out: true
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check_shift_path_lane_departure: true
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allow_check_shift_path_lane_departure_override: false
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shift_collision_check_distance_from_end: -10.0
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minimum_shift_pull_out_distance: 0.0
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deceleration_interval: 15.0

‎planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp

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bool requiresDynamicObjectsCollisionDetection() const;
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uint16_t getSteeringFactorDirection(
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const behavior_path_planner::BehaviorModuleOutput & output) const
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{
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switch (output.turn_signal_info.turn_signal.command) {
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case TurnIndicatorsCommand::ENABLE_LEFT:
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return SteeringFactor::LEFT;
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case TurnIndicatorsCommand::ENABLE_RIGHT:
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return SteeringFactor::RIGHT;
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default:
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return SteeringFactor::STRAIGHT;
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}
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};
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/**
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* @brief Check if there are no moving objects around within a certain radius.
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*

‎planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp

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// shift pull out
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bool enable_shift_pull_out{false};
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bool check_shift_path_lane_departure{false};
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bool allow_check_shift_path_lane_departure_override{false};
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double shift_collision_check_distance_from_end{0.0};
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double minimum_shift_pull_out_distance{0.0};
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int lateral_acceleration_sampling_num{0};

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