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fix(behavior_path_planner): get accurate drivable area #1035

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Jun 6, 2022
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fix(behavior_path_planner): get accurate drivable area #1035

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30 changes: 14 additions & 16 deletions planning/behavior_path_planner/src/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,17 +100,16 @@ std::array<double, 4> getLaneletScope(
p.y = point.y();
points.push_back(p);
}
const size_t nearest_point_idx =
tier4_autoware_utils::findNearestIndex(points, current_pose.position);

drivable_area_utils::updateMinMaxPosition(
nearest_bound[nearest_point_idx].basicPoint(), min_x, min_y, max_x, max_y);
const size_t nearest_segment_idx =
tier4_autoware_utils::findNearestSegmentIndex(points, current_pose.position);

// forward lanelet
double sum_length = 0.0;
const auto forward_offset_length =
tier4_autoware_utils::calcSignedArcLength(points, current_pose.position, nearest_segment_idx);
double sum_length = std::min(forward_offset_length, 0.0);
size_t current_lane_idx = nearest_lane_idx;
auto current_lane = lanes.at(current_lane_idx);
size_t current_point_idx = nearest_point_idx;
size_t current_point_idx = nearest_segment_idx;
while (true) {
const auto & bound = get_bound_func(current_lane);
if (current_point_idx != bound.size() - 1) {
Expand Down Expand Up @@ -140,10 +139,8 @@ std::array<double, 4> getLaneletScope(
current_point_idx = 0;
const auto & current_bound = get_bound_func(current_lane);

const Eigen::Vector2d & prev_point =
get_bound_func(previous_lane)[previous_point_idx].basicPoint();
const Eigen::Vector2d & current_point =
get_bound_func(current_lane)[current_point_idx].basicPoint();
const Eigen::Vector2d & prev_point = previous_bound[previous_point_idx].basicPoint();
const Eigen::Vector2d & current_point = current_bound[current_point_idx].basicPoint();
const bool is_end_lane = drivable_area_utils::sumLengthFromTwoPoints(
prev_point, current_point, forward_lane_length + lane_margin, sum_length, min_x, min_y,
max_x, max_y);
Expand All @@ -154,8 +151,10 @@ std::array<double, 4> getLaneletScope(
}

// backward lanelet
current_point_idx = nearest_point_idx;
sum_length = 0.0;
current_point_idx = nearest_segment_idx + 1;
const auto backward_offset_length = tier4_autoware_utils::calcSignedArcLength(
points, nearest_segment_idx + 1, current_pose.position);
sum_length = std::min(backward_offset_length, 0.0);
current_lane_idx = nearest_lane_idx;
current_lane = lanes.at(current_lane_idx);
while (true) {
Expand Down Expand Up @@ -187,9 +186,8 @@ std::array<double, 4> getLaneletScope(
const auto & current_bound = get_bound_func(current_lane);
current_point_idx = current_bound.size() - 1;

const Eigen::Vector2d & next_point = get_bound_func(next_lane)[next_point_idx].basicPoint();
const Eigen::Vector2d & current_point =
get_bound_func(current_lane)[current_point_idx].basicPoint();
const Eigen::Vector2d & next_point = next_bound[next_point_idx].basicPoint();
const Eigen::Vector2d & current_point = current_bound[current_point_idx].basicPoint();
const bool is_end_lane = drivable_area_utils::sumLengthFromTwoPoints(
next_point, current_point, backward_lane_length + lane_margin, sum_length, min_x, min_y,
max_x, max_y);
Expand Down