From c118a929b7c58a7fcffc5f13d0e8a365b1c158d0 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Fri, 27 Dec 2024 17:27:23 +0900 Subject: [PATCH] feat(lane_change): implement terminal lane change feature (#9592) * implement function to compute terminal lane change path Signed-off-by: mohammad alqudah * push terminal path to candidate paths if no other valid candidate path is found Signed-off-by: mohammad alqudah * use terminal path in LC interface planWaitingApproval function Signed-off-by: mohammad alqudah * set lane changing longitudinal accel to zero for terminal lc path Signed-off-by: mohammad alqudah * rename function Signed-off-by: mohammad alqudah * chore: rename codeowners file Signed-off-by: tomoya.kimura * remove unused member variable prev_approved_path_ Signed-off-by: mohammad alqudah * refactor stop point insertion for terminal lc path Signed-off-by: mohammad alqudah * add flag to enable/disable terminal path feature Signed-off-by: mohammad alqudah * update README Signed-off-by: mohammad alqudah * add parameter to configure stop point placement Signed-off-by: mohammad alqudah * compute terminal path only when near terminal start Signed-off-by: mohammad alqudah * add option to disable feature near goal Signed-off-by: mohammad alqudah * set default flag value to false Signed-off-by: mohammad alqudah * add documentation for terminal lane change path Signed-off-by: mohammad alqudah * ensure actual prepare duration is always above minimum prepare duration threshold Signed-off-by: mohammad alqudah * explicitly return std::nullopt Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * fix assignment Signed-off-by: mohammad alqudah * fix spelling Signed-off-by: mohammad alqudah * fix merge errors Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah Signed-off-by: tomoya.kimura Co-authored-by: tomoya.kimura Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- .../README.md | 20 ++ .../config/lane_change.param.yaml | 6 + .../images/lane_change-no_terminal_path.png | Bin 0 -> 52805 bytes .../images/lane_change-terminal_path.png | Bin 0 -> 56568 bytes .../base_class.hpp | 7 +- .../interface.hpp | 2 - .../scene.hpp | 11 +- .../structs/data.hpp | 18 ++ .../structs/parameters.hpp | 8 + .../utils/calculation.hpp | 3 + .../utils/path.hpp | 2 +- .../src/interface.cpp | 10 +- .../src/manager.cpp | 7 + .../src/scene.cpp | 186 +++++++++++++++--- .../src/utils/calculation.cpp | 58 ++++-- .../src/utils/path.cpp | 4 +- 16 files changed, 283 insertions(+), 59 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-no_terminal_path.png create mode 100644 planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-terminal_path.png diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index 5a6c22a731bf9..0508dc753a2e8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -874,6 +874,16 @@ endif @enduml ``` +## Terminal Lane Change Path + +Depending on the space configuration around the Ego vehicle, it is possible that a valid LC path cannot be generated. If that happens, then Ego will get stuck at `terminal_start` and will be not be able to proceed. Therefore we introduced the terminal LC path feature; when ego gets near to the terminal point (dist to `terminal_start` is less than the maximum lane change length) a terminal lane changing path will be computed starting from the terminal start point on the current lane and connects to the target lane. The terminal path only needs to be computed once in each execution of LC module. If no valid candidate paths are found in the path generation process, then the terminal path will be used as a fallback candidate path, the safety of the terminal path is not ensured and therefore it can only be force approved. The following images illustrate the expected behavior without and with the terminal path feature respectively: + +![no terminal path](./images/lane_change-no_terminal_path.png) + +![terminal path](./images/lane_change-terminal_path.png) + +Additionally if terminal path feature is enabled and path is computed, stop point placement can be configured to be at the edge of the current lane instead of at the `terminal_start` position, as indicated by the dashed red line in the image above. + ## Parameters ### Essential lane change parameters @@ -935,6 +945,16 @@ The following parameters are used to judge lane change completion. | `delay_lane_change.min_road_shoulder_width` | [m] | double | Width considered as road shoulder if lane doesn't have road shoulder when checking for parked vehicle | 0.5 | | `delay_lane_change.th_parked_vehicle_shift_ratio` | [-] | double | Stopped vehicles beyond this distance ratio from center line will be considered as parked | 0.6 | +### Terminal Lane Change Path + +The following parameters are used to configure terminal lane change path feature. + +| Name | Unit | Type | Description | Default value | +| :-------------------------------- | ---- | ---- | ------------------------------------------------------------------------- | ------------- | +| `terminal_path.enable` | [-] | bool | Flag to enable/disable terminal path feature | true | +| `terminal_path.disable_near_goal` | [-] | bool | Flag to disable terminal path feature if ego is near goal | true | +| `terminal_path.stop_at_boundary` | [-] | bool | If true, ego will stop at current lane boundary instead of middle of lane | false | + ### Collision checks #### Target Objects diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml index 61e41b4ea3ea4..91b296f8bd40f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml @@ -10,6 +10,12 @@ # turn signal min_length_for_turn_signal_activation: 10.0 # [m] + # terminal path + terminal_path: + enable: true + disable_near_goal: true + stop_at_boundary: false + # trajectory generation trajectory: max_prepare_duration: 4.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-no_terminal_path.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-no_terminal_path.png new file mode 100644 index 0000000000000000000000000000000000000000..2c7b76e1749974c64c7422aa524ed6839e12059b GIT binary patch literal 52805 zcmeEv2S60p+BO)wF=|X=G`7TG7q^0o4VLXNvuv4}-7%JJY%lIEY_Xux#KhR6V#Thp 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zDpmlCK-{G0;ODD}t3@Te>D?gwK&w8cQ!ft=!ZjgfA-bFU*(Yx{2m#l*ImlON#n^jL zI$)RAOJeTkvDz+Xdx&T9;59QXfJ%<|8seXQIX9Sh?mPKxas-p{p0zWiQn`}2_8W2I zy1FgnW?9PaaYbF8OCZvGdL1?8bRhc=gTjLRA{brA!=P#Of)@yayMPzMl4vp9q;>?+ z$ED|}V<~;~B)Fi!tab{pvXKrpOsTO-^h!}#?xBfu;(S}IF9MA z?y%Zzn|z)(1AFxk5W>EC1Df(vPPPN@%uMs{`<4N zL16S>zWyKc{69zk``u7BzkS<(?2r5>vwpI6no6$`3nWF^ z2WD&VX0abWEbHoqnEgYuabKo-=fh+4jUC@@#2hTgI@WXkPqWI`gEY3pRB#_{{UVF-0d9jioiM3au06#aBwUqJ| H?gjiG%@K1E literal 0 HcmV?d00001 diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp index 1061e07e516a2..43a929591dad1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp @@ -104,6 +104,8 @@ class LaneChangeBase virtual LaneChangePath getLaneChangePath() const = 0; + virtual BehaviorModuleOutput getTerminalLaneChangePath() const = 0; + virtual bool isEgoOnPreparePhase() const = 0; virtual bool isRequiredStop(const bool is_trailing_object) = 0; @@ -130,7 +132,7 @@ class LaneChangeBase virtual void insert_stop_point( [[maybe_unused]] const lanelet::ConstLanelets & lanelets, - [[maybe_unused]] PathWithLaneId & path) + [[maybe_unused]] PathWithLaneId & path, [[maybe_unused]] const bool is_waiting_approval = false) { } @@ -285,8 +287,7 @@ class LaneChangeBase FilteredLanesObjects filtered_objects_{}; BehaviorModuleOutput prev_module_output_{}; PoseWithDetailOpt lane_change_stop_pose_{std::nullopt}; - - PathWithLaneId prev_approved_path_; + mutable std::optional terminal_lane_change_path_{std::nullopt}; int unsafe_hysteresis_count_{0}; bool is_abort_path_approved_{false}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp index 9d6fbd65acfd8..a69ae0d92647a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp @@ -129,8 +129,6 @@ class LaneChangeInterface : public SceneModuleInterface mutable MarkerArray virtual_wall_marker_; - std::unique_ptr prev_approved_path_; - void clearAbortApproval() { is_abort_path_approved_ = false; } bool is_abort_path_approved_{false}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 5f1da79bc7ea0..fe1d18ea6ea0c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -65,13 +65,18 @@ class NormalLaneChange : public LaneChangeBase LaneChangePath getLaneChangePath() const override; + BehaviorModuleOutput getTerminalLaneChangePath() const override; + BehaviorModuleOutput generateOutput() override; void extendOutputDrivableArea(BehaviorModuleOutput & output) const override; - void insert_stop_point(const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) override; + void insert_stop_point( + const lanelet::ConstLanelets & lanelets, PathWithLaneId & path, + const bool is_waiting_approval = false) override; - void insert_stop_point_on_current_lanes(PathWithLaneId & path); + void insert_stop_point_on_current_lanes( + PathWithLaneId & path, const bool is_waiting_approval = false); PathWithLaneId getReferencePath() const override; @@ -137,6 +142,8 @@ class NormalLaneChange : public LaneChangeBase bool check_candidate_path_safety( const LaneChangePath & candidate_path, const lane_change::TargetObjects & target_objects) const; + std::optional compute_terminal_lane_change_path() const; + bool isValidPath(const PathWithLaneId & path) const override; PathSafetyStatus isLaneChangePathSafe( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp index 5f36be806bba4..d5bbfe25fe1e9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/data.hpp @@ -128,6 +128,22 @@ struct Info terminal_lane_changing_velocity = _lc_metrics.velocity; shift_line = _shift_line; } + + void set_prepare(const PhaseMetrics & _prep_metrics) + { + longitudinal_acceleration.prepare = _prep_metrics.actual_lon_accel; + velocity.prepare = _prep_metrics.velocity; + duration.prepare = _prep_metrics.duration; + length.prepare = _prep_metrics.length; + } + + void set_lane_changing(const PhaseMetrics & _lc_metrics) + { + longitudinal_acceleration.lane_changing = _lc_metrics.actual_lon_accel; + velocity.lane_changing = _lc_metrics.velocity; + duration.lane_changing = _lc_metrics.duration; + length.lane_changing = _lc_metrics.length; + } }; struct TargetLaneLeadingObjects @@ -219,6 +235,8 @@ struct TransientData double target_lane_length{std::numeric_limits::min()}; + double dist_to_target_end{std::numeric_limits::max()}; + lanelet::ArcCoordinates current_lanes_ego_arc; // arc coordinates of ego pose along current lanes lanelet::ArcCoordinates target_lanes_ego_arc; // arc coordinates of ego pose along target lanes diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp index 94020e8a08279..b25dbc99189e8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/structs/parameters.hpp @@ -137,12 +137,20 @@ struct DelayParameters double th_parked_vehicle_shift_ratio{0.6}; }; +struct TerminalPathParameters +{ + bool enable{false}; + bool disable_near_goal{false}; + bool stop_at_boundary{false}; +}; + struct Parameters { TrajectoryParameters trajectory{}; SafetyParameters safety{}; CancelParameters cancel{}; DelayParameters delay{}; + TerminalPathParameters terminal_path{}; // lane change parameters double backward_lane_length{200.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index eced227a5be32..29a9f258545a2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -67,6 +67,9 @@ double calc_dist_to_last_fit_width( const lanelet::ConstLanelets & lanelets, const Pose & src_pose, const BehaviorPathPlannerParameters & bpp_param, const double margin = 0.1); +double calc_dist_to_last_fit_width( + const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, const double margin = 0.1); + /** * @brief Calculates the maximum preparation longitudinal distance for lane change. * diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp index dcc327b4793e1..77ba8fe68a653 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp @@ -48,7 +48,7 @@ using behavior_path_planner::lane_change::CommonDataPtr; */ bool get_prepare_segment( const CommonDataPtr & common_data_ptr, const PathWithLaneId & prev_module_path, - const LaneChangePhaseMetrics prep_metric, PathWithLaneId & prepare_segment); + const double prep_length, PathWithLaneId & prepare_segment); /** * @brief Generates the candidate path for a lane change maneuver. diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index f80aad721a07c..9f3c6c9ef48bf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -43,8 +43,7 @@ LaneChangeInterface::LaneChangeInterface( std::unique_ptr && module_type) : SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT parameters_{std::move(parameters)}, - module_type_{std::move(module_type)}, - prev_approved_path_{std::make_unique()} + module_type_{std::move(module_type)} { module_type_->setTimeKeeper(getTimeKeeper()); logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr()); @@ -109,7 +108,6 @@ BehaviorModuleOutput LaneChangeInterface::plan() auto output = module_type_->generateOutput(); path_reference_ = std::make_shared(output.reference_path); - *prev_approved_path_ = getPreviousModuleOutput().path; stop_pose_ = module_type_->getStopPose(); @@ -155,11 +153,9 @@ BehaviorModuleOutput LaneChangeInterface::plan() BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() { - BehaviorModuleOutput out = getPreviousModuleOutput(); + BehaviorModuleOutput out = module_type_->getTerminalLaneChangePath(); - *prev_approved_path_ = out.path; - - module_type_->insert_stop_point(module_type_->get_current_lanes(), out.path); + module_type_->insert_stop_point(module_type_->get_current_lanes(), out.path, true); out.turn_signal_info = module_type_->get_current_turn_signal_info(); const auto & lane_change_debug = module_type_->getDebugData(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index 9f7a811770b5d..ec000b8fee97c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -242,6 +242,13 @@ LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::s // debug marker p.publish_debug_marker = getOrDeclareParameter(*node, parameter("publish_debug_marker")); + // terminal lane change path + p.terminal_path.enable = getOrDeclareParameter(*node, parameter("terminal_path.enable")); + p.terminal_path.disable_near_goal = + getOrDeclareParameter(*node, parameter("terminal_path.disable_near_goal")); + p.terminal_path.stop_at_boundary = + getOrDeclareParameter(*node, parameter("terminal_path.stop_at_boundary")); + // validation of safety check parameters // if loose check is not enabled, lane change module will keep on chattering and canceling, and // false positive situation might occur diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index fb4f7aeca1525..2719239baaed8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -43,6 +43,7 @@ #include #include #include +#include #include #include #include @@ -169,6 +170,9 @@ void NormalLaneChange::update_transient_data(const bool is_approved) transient_data.dist_to_terminal_start = transient_data.dist_to_terminal_end - transient_data.current_dist_buffer.min; + transient_data.dist_to_target_end = calculation::calc_dist_from_pose_to_terminal_end( + common_data_ptr_, common_data_ptr_->lanes_ptr->target, common_data_ptr_->get_ego_pose()); + transient_data.max_prepare_length = calculation::calc_maximum_prepare_length(common_data_ptr_); transient_data.target_lane_length = @@ -246,6 +250,10 @@ std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) bool found_safe_path = get_lane_change_paths(valid_paths); // if no safe path is found and ego is stuck, try to find a path with a small margin + if (valid_paths.empty() && terminal_lane_change_path_) { + valid_paths.push_back(terminal_lane_change_path_.value()); + } + lane_change_debug_.valid_paths = valid_paths; if (valid_paths.empty()) { @@ -380,6 +388,45 @@ LaneChangePath NormalLaneChange::getLaneChangePath() const return status_.lane_change_path; } +BehaviorModuleOutput NormalLaneChange::getTerminalLaneChangePath() const +{ + if ( + !lane_change_parameters_->terminal_path.enable || + !common_data_ptr_->transient_data.is_ego_near_current_terminal_start) { + return prev_module_output_; + } + + const auto is_near_goal = lane_change_parameters_->terminal_path.disable_near_goal && + common_data_ptr_->lanes_ptr->target_lane_in_goal_section && + common_data_ptr_->transient_data.dist_to_target_end < + common_data_ptr_->transient_data.lane_changing_length.max; + if (is_near_goal) { + return prev_module_output_; + } + + const auto & current_lanes = get_current_lanes(); + if (current_lanes.empty()) { + RCLCPP_DEBUG(logger_, "Current lanes not found. Returning previous module's path as output."); + return prev_module_output_; + } + + const auto terminal_lc_path = compute_terminal_lane_change_path(); + + if (!terminal_lc_path) { + RCLCPP_DEBUG(logger_, "Terminal path not found. Returning previous module's path as output."); + return prev_module_output_; + } + + auto output = prev_module_output_; + + output.path = *terminal_lc_path; + output.turn_signal_info = get_current_turn_signal_info(); + + extendOutputDrivableArea(output); + + return output; +} + BehaviorModuleOutput NormalLaneChange::generateOutput() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -450,7 +497,7 @@ void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) c } void NormalLaneChange::insert_stop_point( - const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) + const lanelet::ConstLanelets & lanelets, PathWithLaneId & path, const bool is_waiting_approval) { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (lanelets.empty()) { @@ -475,44 +522,42 @@ void NormalLaneChange::insert_stop_point( return; } - insert_stop_point_on_current_lanes(path); + insert_stop_point_on_current_lanes(path, is_waiting_approval); } -void NormalLaneChange::insert_stop_point_on_current_lanes(PathWithLaneId & path) +void NormalLaneChange::insert_stop_point_on_current_lanes( + PathWithLaneId & path, const bool is_waiting_approval) { const auto & path_front_pose = path.points.front().point.pose; - const auto & center_line = common_data_ptr_->current_lanes_path.points; - const auto get_arc_length_along_lanelet = [&](const geometry_msgs::msg::Pose & target) { - return motion_utils::calcSignedArcLength( - center_line, path_front_pose.position, target.position); - }; + const auto & ego_pose = common_data_ptr_->get_ego_pose(); + const auto dist_from_path_front = + motion_utils::calcSignedArcLength(path.points, path_front_pose.position, ego_pose.position); const auto & transient_data = common_data_ptr_->transient_data; const auto & lanes_ptr = common_data_ptr_->lanes_ptr; const auto & lc_param_ptr = common_data_ptr_->lc_param_ptr; - const auto dist_to_terminal = std::invoke([&]() -> double { - const auto target_pose = (lanes_ptr->current_lane_in_goal_section) - ? common_data_ptr_->route_handler_ptr->getGoalPose() - : center_line.back().point.pose; - return get_arc_length_along_lanelet(target_pose); - }); - - const auto & bpp_param_ptr = common_data_ptr_->bpp_param_ptr; - const auto min_dist_buffer = transient_data.current_dist_buffer.min; const auto dist_to_terminal_start = - dist_to_terminal - min_dist_buffer - calculation::calc_stopping_distance(lc_param_ptr); + transient_data.dist_to_terminal_start - calculation::calc_stopping_distance(lc_param_ptr); - const auto distance_to_last_fit_width = std::invoke([&]() -> double { + const auto & bpp_param_ptr = common_data_ptr_->bpp_param_ptr; + const auto dist_to_terminal_stop = std::invoke([&]() -> double { const auto & curr_lanes_poly = common_data_ptr_->lanes_polygon_ptr->current; - if (utils::isEgoWithinOriginalLane(curr_lanes_poly, getEgoPose(), *bpp_param_ptr)) { - return utils::lane_change::calculation::calc_dist_to_last_fit_width( - lanes_ptr->current, path.points.front().point.pose, *bpp_param_ptr); + if (!utils::isEgoWithinOriginalLane(curr_lanes_poly, getEgoPose(), *bpp_param_ptr)) { + return dist_from_path_front + dist_to_terminal_start; } - return std::numeric_limits::max(); - }); - const auto dist_to_terminal_stop = std::min(dist_to_terminal_start, distance_to_last_fit_width); + if ( + terminal_lane_change_path_ && is_waiting_approval && + lc_param_ptr->terminal_path.stop_at_boundary) { + return calculation::calc_dist_to_last_fit_width(common_data_ptr_, path); + } + + const auto dist_to_last_fit_width = calculation::calc_dist_to_last_fit_width( + lanes_ptr->current, path.points.front().point.pose, *bpp_param_ptr); + + return std::min(dist_from_path_front + dist_to_terminal_start, dist_to_last_fit_width); + }); const auto terminal_stop_reason = status_.is_valid_path ? "no safe path" : "no valid path"; if ( @@ -522,11 +567,13 @@ void NormalLaneChange::insert_stop_point_on_current_lanes(PathWithLaneId & path) return; } + const auto & center_line = common_data_ptr_->current_lanes_path.points; const auto dist_to_target_lane_start = std::invoke([&]() -> double { const auto & front_lane = lanes_ptr->target_neighbor.front(); const auto target_front = utils::to_geom_msg_pose(front_lane.centerline2d().front(), front_lane); - return get_arc_length_along_lanelet(target_front); + return motion_utils::calcSignedArcLength( + center_line, path_front_pose.position, target_front.position); }); const auto arc_length_to_current_obj = utils::lane_change::get_min_dist_to_current_lanes_obj( @@ -1129,7 +1176,7 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths) PathWithLaneId prepare_segment; try { if (!utils::lane_change::get_prepare_segment( - common_data_ptr_, prev_module_output_.path, prep_metric, prepare_segment)) { + common_data_ptr_, prev_module_output_.path, prep_metric.length, prepare_segment)) { debug_print("Reject: failed to get valid prepare segment!"); continue; } @@ -1247,6 +1294,91 @@ bool NormalLaneChange::check_candidate_path_safety( return safety_check_with_normal_rss.is_safe; } +std::optional NormalLaneChange::compute_terminal_lane_change_path() const +{ + const auto & transient_data = common_data_ptr_->transient_data; + const auto dist_to_terminal_start = transient_data.dist_to_terminal_start; + const auto min_lc_velocity = lane_change_parameters_->trajectory.min_lane_changing_velocity; + const auto current_velocity = getEgoVelocity(); + + PathWithLaneId prepare_segment; + try { + if (!utils::lane_change::get_prepare_segment( + common_data_ptr_, prev_module_output_.path, dist_to_terminal_start, prepare_segment)) { + RCLCPP_DEBUG(logger_, "failed to get valid prepare segment for terminal LC path"); + return std::nullopt; + } + } catch (const std::exception & e) { + RCLCPP_DEBUG(logger_, "failed to get terminal LC path: %s", e.what()); + return std::nullopt; + } + + // t = 2 * d / (v1 + v2) + const auto duration_to_lc_start = + 2.0 * dist_to_terminal_start / (current_velocity + min_lc_velocity); + const auto lon_accel = std::invoke([&]() -> double { + if (duration_to_lc_start < calculation::eps) { + return 0.0; + } + return std::clamp( + (min_lc_velocity - current_velocity) / duration_to_lc_start, + lane_change_parameters_->trajectory.min_longitudinal_acc, + lane_change_parameters_->trajectory.max_longitudinal_acc); + }); + const auto vel_on_prep = current_velocity + lon_accel * duration_to_lc_start; + const LaneChangePhaseMetrics prep_metric( + duration_to_lc_start, dist_to_terminal_start, vel_on_prep, lon_accel, lon_accel, 0.0); + + if (terminal_lane_change_path_) { + terminal_lane_change_path_->info.set_prepare(prep_metric); + if (prepare_segment.points.empty()) { + terminal_lane_change_path_->path = terminal_lane_change_path_->shifted_path.path; + return terminal_lane_change_path_->path; + } + prepare_segment.points.pop_back(); + terminal_lane_change_path_->path = + utils::combinePath(prepare_segment, terminal_lane_change_path_->shifted_path.path); + return terminal_lane_change_path_->path; + } + + const auto & lane_changing_start_pose = prepare_segment.points.back().point.pose; + const auto & target_lanes = common_data_ptr_->lanes_ptr->target; + const auto shift_length = + lanelet::utils::getLateralDistanceToClosestLanelet(target_lanes, lane_changing_start_pose); + + const auto dist_lc_start_to_end_of_lanes = calculation::calc_dist_from_pose_to_terminal_end( + common_data_ptr_, common_data_ptr_->lanes_ptr->target_neighbor, + prepare_segment.points.back().point.pose); + + const auto max_lane_changing_length = std::invoke([&]() { + double max_length = transient_data.dist_to_terminal_end - prep_metric.length; + return std::min( + max_length, dist_lc_start_to_end_of_lanes - transient_data.next_dist_buffer.min); + }); + + const auto max_path_velocity = prepare_segment.points.back().point.longitudinal_velocity_mps; + constexpr double lane_changing_lon_accel{0.0}; + const auto lane_changing_metrics = calculation::calc_shift_phase_metrics( + common_data_ptr_, shift_length, prep_metric.velocity, max_path_velocity, + lane_changing_lon_accel, max_lane_changing_length); + + const auto sorted_lane_ids = utils::lane_change::get_sorted_lane_ids(common_data_ptr_); + + LaneChangePath candidate_path; + for (const auto & lc_metric : lane_changing_metrics) { + try { + candidate_path = utils::lane_change::get_candidate_path( + common_data_ptr_, prep_metric, lc_metric, prepare_segment, sorted_lane_ids, shift_length); + } catch (const std::exception & e) { + continue; + } + terminal_lane_change_path_ = candidate_path; + return candidate_path.path; + } + + return std::nullopt; +} + PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const { const auto & path = status_.lane_change_path; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 550c0fa290a99..a0130fcd27041 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -58,22 +58,10 @@ double calc_stopping_distance(const LCParamPtr & lc_param_ptr) } double calc_dist_to_last_fit_width( - const lanelet::ConstLanelets & lanelets, const Pose & src_pose, + const lanelet::ConstLanelets & lanelets, const lanelet::BasicPolygon2d & lanelet_polygon, + const universe_utils::LineString2d & line_string, const Pose & src_pose, const BehaviorPathPlannerParameters & bpp_param, const double margin) { - if (lanelets.empty()) return 0.0; - - const auto lane_polygon = lanelets.back().polygon2d().basicPolygon(); - const auto center_line = lanelet::utils::generateFineCenterline(lanelets.back(), 1.0); - - if (center_line.size() <= 1) return 0.0; - - universe_utils::LineString2d line_string; - line_string.reserve(center_line.size() - 1); - std::for_each(center_line.begin() + 1, center_line.end(), [&line_string](const auto & point) { - boost::geometry::append(line_string, universe_utils::Point2d(point.x(), point.y())); - }); - const double buffer_distance = 0.5 * bpp_param.vehicle_width + margin; universe_utils::MultiPolygon2d center_line_polygon; namespace strategy = boost::geometry::strategy::buffer; @@ -85,7 +73,7 @@ double calc_dist_to_last_fit_width( if (center_line_polygon.empty()) return 0.0; std::vector intersection_points; - boost::geometry::intersection(lane_polygon, center_line_polygon, intersection_points); + boost::geometry::intersection(lanelet_polygon, center_line_polygon, intersection_points); if (intersection_points.empty()) { return utils::getDistanceToEndOfLane(src_pose, lanelets); @@ -102,6 +90,46 @@ double calc_dist_to_last_fit_width( return std::max(distance - (bpp_param.base_link2front + margin), 0.0); } +double calc_dist_to_last_fit_width( + const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, const double margin) +{ + const auto & current_lanes = common_data_ptr->lanes_ptr->current; + const auto & current_lanes_polygon = common_data_ptr->lanes_polygon_ptr->current; + const auto & bpp_param = *common_data_ptr->bpp_param_ptr; + + universe_utils::LineString2d line_string; + line_string.reserve(path.points.size() - 1); + std::for_each(path.points.begin() + 1, path.points.end(), [&line_string](const auto & point) { + const auto & position = point.point.pose.position; + boost::geometry::append(line_string, universe_utils::Point2d(position.x, position.y)); + }); + + const auto & src_pose = path.points.front().point.pose; + return calc_dist_to_last_fit_width( + current_lanes, current_lanes_polygon, line_string, src_pose, bpp_param, margin); +} + +double calc_dist_to_last_fit_width( + const lanelet::ConstLanelets & lanelets, const Pose & src_pose, + const BehaviorPathPlannerParameters & bpp_param, const double margin) +{ + if (lanelets.empty()) return 0.0; + + const auto lane_polygon = lanelets.back().polygon2d().basicPolygon(); + const auto center_line = lanelet::utils::generateFineCenterline(lanelets.back(), 1.0); + + if (center_line.size() <= 1) return 0.0; + + universe_utils::LineString2d line_string; + line_string.reserve(center_line.size() - 1); + std::for_each(center_line.begin() + 1, center_line.end(), [&line_string](const auto & point) { + boost::geometry::append(line_string, universe_utils::Point2d(point.x(), point.y())); + }); + + return calc_dist_to_last_fit_width( + lanelets, lane_polygon, line_string, src_pose, bpp_param, margin); +} + double calc_maximum_prepare_length(const CommonDataPtr & common_data_ptr) { const auto max_prepare_duration = common_data_ptr->lc_param_ptr->trajectory.max_prepare_duration; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp index d7303d7d1df2d..44ee1624f0f51 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp @@ -154,7 +154,7 @@ using behavior_path_planner::lane_change::CommonDataPtr; bool get_prepare_segment( const CommonDataPtr & common_data_ptr, const PathWithLaneId & prev_module_path, - const LaneChangePhaseMetrics prep_metric, PathWithLaneId & prepare_segment) + const double prep_length, PathWithLaneId & prepare_segment) { const auto & current_lanes = common_data_ptr->lanes_ptr->current; const auto & target_lanes = common_data_ptr->lanes_ptr->target; @@ -168,7 +168,7 @@ bool get_prepare_segment( const size_t current_seg_idx = autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( prepare_segment.points, common_data_ptr->get_ego_pose(), 3.0, 1.0); - utils::clipPathLength(prepare_segment, current_seg_idx, prep_metric.length, backward_path_length); + utils::clipPathLength(prepare_segment, current_seg_idx, prep_length, backward_path_length); if (prepare_segment.points.empty()) return false;