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feat(intersection): add flag to enable creep towards intersection occlusion #3510

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merged 2 commits into from
Apr 24, 2023
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feat(intersection): add flag to enable creep towards intersection occlusion #3510

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feat(intersection): add flag to enable creep towards intersection occ…
takayuki5168 Apr 24, 2023
9a87dee
fix
takayuki5168 Apr 24, 2023
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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/config/intersection.param.yaml
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Expand Up @@ -31,6 +31,7 @@
occlusion:
enable: true
occlusion_detection_area_length: 70.0 # [m]
enable_creeping: false # flag to use the creep velocity when reaching occlusion limit stop line
occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
free_space_max: 43
occupied_min: 58
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3 changes: 2 additions & 1 deletion planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
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Expand Up @@ -110,7 +110,8 @@ class IntersectionModule : public SceneModuleInterface
{
bool enable;
double occlusion_detection_area_length; //! used for occlusion detection
double occlusion_creep_velocity; //! the creep velocity to occlusion limit stop lline
bool enable_creeping;
double occlusion_creep_velocity; //! the creep velocity to occlusion limit stop lline
int free_space_max;
int occupied_min;
bool do_dp;
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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/src/scene_module/intersection/manager.cpp
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Expand Up @@ -81,6 +81,7 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
ip.occlusion.enable = node.declare_parameter<bool>(ns + ".occlusion.enable");
ip.occlusion.occlusion_detection_area_length =
node.declare_parameter<double>(ns + ".occlusion.occlusion_detection_area_length");
ip.occlusion.enable_creeping = node.declare_parameter<bool>(ns + ".occlusion.enable_creeping");
ip.occlusion.occlusion_creep_velocity =
node.declare_parameter<double>(ns + ".occlusion.occlusion_creep_velocity");
ip.occlusion.free_space_max = node.declare_parameter<int>(ns + ".occlusion.free_space_max");
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2 changes: 1 addition & 1 deletion planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
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Expand Up @@ -405,7 +405,7 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
if (!occlusion_activated_) {
is_go_out_ = false;
/* in case of creeping */
if (insert_creep_during_occlusion) {
if (insert_creep_during_occlusion && planner_param_.occlusion.enable_creeping) {
const auto [start, end] = insert_creep_during_occlusion.value();
for (size_t i = start; i < end; ++i) {
planning_utils::setVelocityFromIndex(
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