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fix(lane_change): delay lane change cancel (#8048) (for RT0-33952) #1626

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merged 1 commit into from
Nov 7, 2024
Merged

fix(lane_change): delay lane change cancel (#8048) (for RT0-33952) #1626

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20 changes: 19 additions & 1 deletion planning/behavior_path_lane_change_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1375,7 +1375,7 @@ bool NormalLaneChange::getLaneChangePaths(
std::vector<ExtendedPredictedObject> filtered_objects =
filterObjectsInTargetLane(target_objects, target_lanes);
if (
!is_stuck && utils::lane_change::passParkedObject(
!is_stuck && !utils::lane_change::passParkedObject(
route_handler, *candidate_path, filtered_objects, lane_change_buffer,
is_goal_in_route, *lane_change_parameters_, object_debug_)) {
debug_print(
Expand Down Expand Up @@ -1417,6 +1417,24 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const

CollisionCheckDebugMap debug_data;
const bool is_stuck = isVehicleStuck(current_lanes);

const auto & route_handler = *getRouteHandler();
const auto & lc_param = *lane_change_parameters_;

const auto min_lc_length = utils::lane_change::calcMinimumLaneChangeLength(
*lane_change_parameters_,
route_handler.getLateralIntervalsToPreferredLane(current_lanes.back()));
const auto is_goal_in_route = route_handler.isInGoalRouteSection(current_lanes.back());

const auto has_passed_parked_objects = utils::lane_change::passParkedObject(
route_handler, path, target_objects.target_lane, min_lc_length, is_goal_in_route, lc_param,
debug_data);

if (!has_passed_parked_objects) {
RCLCPP_DEBUG(logger_, "Lane change has been delayed.");
return {false, false};
}

const auto safety_status = isLaneChangePathSafe(
path, target_objects, lane_change_parameters_->rss_params_for_abort, is_stuck, debug_data);
{
Expand Down
10 changes: 5 additions & 5 deletions planning/behavior_path_lane_change_module/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -991,22 +991,22 @@ bool passParkedObject(
route_handler.getCenterLinePath(current_lanes, 0.0, std::numeric_limits<double>::max());

if (objects.empty() || path.points.empty() || current_lane_path.points.empty()) {
return false;
return true;
}

const auto leading_obj_idx = getLeadingStaticObjectIdx(
route_handler, lane_change_path, objects, object_check_min_road_shoulder_width,
object_shiftable_ratio_threshold);
if (!leading_obj_idx) {
return false;
return true;
}

const auto & leading_obj = objects.at(*leading_obj_idx);
auto debug = utils::path_safety_checker::createObjectDebug(leading_obj);
const auto leading_obj_poly =
tier4_autoware_utils::toPolygon2d(leading_obj.initial_pose.pose, leading_obj.shape);
if (leading_obj_poly.outer().empty()) {
return false;
return true;
}

const auto & current_path_end = current_lane_path.points.back().point.pose.position;
Expand All @@ -1028,10 +1028,10 @@ bool passParkedObject(
if (min_dist_to_end_of_current_lane > minimum_lane_change_length) {
debug.second.unsafe_reason = "delay lane change";
utils::path_safety_checker::updateCollisionCheckDebugMap(object_debug, debug, false);
return true;
return false;
}

return false;
return true;
}

std::optional<size_t> getLeadingStaticObjectIdx(
Expand Down
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