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fix(lane_change): separate visualization after path approval #4107

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Jul 18, 2023
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fix(lane_change): separate visualization after path approval #4107

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14 changes: 13 additions & 1 deletion ...havior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,13 +14,15 @@
#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__BASE_CLASS_HPP_
#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__BASE_CLASS_HPP_

#include "behavior_path_planner/marker_util/debug_utilities.hpp"
#include "behavior_path_planner/marker_util/lane_change/debug.hpp"
#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/turn_signal_decider.hpp"
#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
#include "behavior_path_planner/utils/lane_change/utils.hpp"
#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
#include "tier4_autoware_utils/system/stop_watch.hpp"

#include <magic_enum.hpp>
#include <rclcpp/rclcpp.hpp>
Expand All @@ -32,6 +34,7 @@
#include <geometry_msgs/msg/twist.hpp>

#include <algorithm>
#include <chrono>
#include <memory>
#include <string>
#include <utility>
Expand All @@ -46,6 +49,7 @@ using geometry_msgs::msg::Pose;
using geometry_msgs::msg::Twist;
using marker_utils::CollisionCheckDebugMap;
using route_handler::Direction;
using tier4_autoware_utils::StopWatch;
using tier4_planning_msgs::msg::LaneChangeDebugMsg;
using tier4_planning_msgs::msg::LaneChangeDebugMsgArray;

Expand Down Expand Up @@ -139,6 +143,11 @@ class LaneChangeBase

const CollisionCheckDebugMap & getDebugData() const { return object_debug_; }

const CollisionCheckDebugMap & getAfterApprovalDebugData() const
{
return object_debug_after_approval_;
}

const Pose & getEgoPose() const { return planner_data_->self_odometry->pose.pose; }

const Point & getEgoPosition() const { return getEgoPose().position; }
Expand Down Expand Up @@ -239,8 +248,11 @@ class LaneChangeBase
Direction direction_{Direction::NONE};
LaneChangeModuleType type_{LaneChangeModuleType::NORMAL};

mutable CollisionCheckDebugMap object_debug_{};
mutable LaneChangePaths debug_valid_path_{};
mutable CollisionCheckDebugMap object_debug_{};
mutable CollisionCheckDebugMap object_debug_after_approval_{};
mutable double object_debug_lifetime_{0.0};
mutable StopWatch<std::chrono::milliseconds> stop_watch_;
};
} // namespace behavior_path_planner
#endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__BASE_CLASS_HPP_
15 changes: 12 additions & 3 deletions planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
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Expand Up @@ -299,17 +299,26 @@ void LaneChangeInterface::setObjectDebugVisualization() const
using marker_utils::lane_change_markers::showPolygonPose;

const auto debug_data = module_type_->getDebugData();
const auto debug_after_approval = module_type_->getAfterApprovalDebugData();
const auto debug_valid_path = module_type_->getDebugValidPath();

debug_marker_.markers.clear();
const auto add = [this](const MarkerArray & added) {
tier4_autoware_utils::appendMarkerArray(added, &debug_marker_);
};

add(showObjectInfo(debug_data, "object_debug_info"));
add(showLerpedPose(debug_data, "ego_predicted_path"));
add(showPolygon(debug_data, "ego_and_target_polygon_relation"));
add(showAllValidLaneChangePath(debug_valid_path, "lane_change_valid_paths"));
if (!debug_data.empty()) {
add(showObjectInfo(debug_data, "object_debug_info"));
add(showLerpedPose(debug_data, "ego_predicted_path"));
add(showPolygon(debug_data, "ego_and_target_polygon_relation"));
}

if (!debug_after_approval.empty()) {
add(showObjectInfo(debug_after_approval, "object_debug_info_after_approval"));
add(showLerpedPose(debug_after_approval, "ego_predicted_path_after_approval"));
add(showPolygon(debug_after_approval, "ego_and_target_polygon_relation_after_approval"));
}
}

std::shared_ptr<LaneChangeDebugMsgArray> LaneChangeInterface::get_debug_msg_array() const
Expand Down
15 changes: 15 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ NormalLaneChange::NormalLaneChange(
Direction direction)
: LaneChangeBase(parameters, type, direction)
{
stop_watch_.tic(getModuleTypeStr());
}

void NormalLaneChange::updateLaneChangeStatus()
Expand Down Expand Up @@ -870,6 +871,20 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const
const auto safety_status = isLaneChangePathSafe(
path, target_objects, common_parameters.expected_front_deceleration_for_abort,
common_parameters.expected_rear_deceleration_for_abort, debug_data);
{
// only for debug purpose
object_debug_.clear();
object_debug_lifetime_ += (stop_watch_.toc(getModuleTypeStr()) / 1000);
if (object_debug_lifetime_ > 2.0) {
stop_watch_.toc(getModuleTypeStr(), true);
object_debug_lifetime_ = 0.0;
object_debug_after_approval_.clear();
}

if (!safety_status.is_safe) {
object_debug_after_approval_ = debug_data;
}
}

return safety_status;
}
Expand Down