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fix(lane_change): regulate at the traffic light #5457

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merged 2 commits into from
Nov 17, 2023
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fix(lane_change): regulate at the traffic light #5457

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6852936
fix(lane_change): regulate at the traffic light
zulfaqar-azmi-t4 Nov 1, 2023
64a80d8
fix conflict
zulfaqar-azmi-t4 Nov 7, 2023
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/config/lane_change/lane_change.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,7 @@
regulation:
crosswalk: false
intersection: false
traffic_light: true

# ego vehicle stuck detection
stuck_detection:
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3 changes: 3 additions & 0 deletions ...g/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
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Expand Up @@ -135,6 +135,9 @@ class NormalLaneChange : public LaneChangeBase
bool hasEnoughLengthToIntersection(
const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const;

bool hasEnoughLengthToTrafficLight(
const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const;

bool getLaneChangePaths(
const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes,
Direction direction, LaneChangePaths * candidate_paths,
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1 change: 1 addition & 0 deletions ..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
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Expand Up @@ -65,6 +65,7 @@ struct LaneChangeParameters
// regulatory elements
bool regulate_on_crosswalk{false};
bool regulate_on_intersection{false};
bool regulate_on_traffic_light{false};

// ego vehicle stuck detection
double stop_velocity_threshold{0.1};
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
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Expand Up @@ -45,6 +45,7 @@
#include <limits>
#include <memory>
#include <string>
#include <utility>
#include <vector>

namespace behavior_path_planner::utils
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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
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Expand Up @@ -84,6 +84,8 @@ LaneChangeModuleManager::LaneChangeModuleManager(
p.regulate_on_crosswalk = getOrDeclareParameter<bool>(*node, parameter("regulation.crosswalk"));
p.regulate_on_intersection =
getOrDeclareParameter<bool>(*node, parameter("regulation.intersection"));
p.regulate_on_traffic_light =
getOrDeclareParameter<bool>(*node, parameter("regulation.traffic_light"));

// ego vehicle stuck detection
p.stop_velocity_threshold =
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21 changes: 21 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Expand Up @@ -19,6 +19,7 @@
#include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/traffic_light_utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
Expand All @@ -38,6 +39,7 @@
namespace behavior_path_planner
{
using motion_utils::calcSignedArcLength;
using utils::traffic_light::getDistanceToNextTrafficLight;

NormalLaneChange::NormalLaneChange(
const std::shared_ptr<LaneChangeParameters> & parameters, LaneChangeModuleType type,
Expand Down Expand Up @@ -1081,6 +1083,19 @@ bool NormalLaneChange::hasEnoughLengthToIntersection(
return true;
}

bool NormalLaneChange::hasEnoughLengthToTrafficLight(
const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const
{
const auto current_pose = getEgoPose();
const auto dist_to_next_traffic_light =
getDistanceToNextTrafficLight(current_pose, current_lanes);
const auto dist_to_next_traffic_light_from_lc_start_pose =
dist_to_next_traffic_light - path.info.length.prepare;

return dist_to_next_traffic_light_from_lc_start_pose <= 0.0 ||
dist_to_next_traffic_light_from_lc_start_pose >= path.info.length.lane_changing;
}

bool NormalLaneChange::getLaneChangePaths(
const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes,
Direction direction, LaneChangePaths * candidate_paths,
Expand Down Expand Up @@ -1340,6 +1355,12 @@ bool NormalLaneChange::getLaneChangePaths(
logger_, "Stop time is over threshold. Allow lane change in intersection.");
}

if (
lane_change_parameters_->regulate_on_traffic_light &&
!hasEnoughLengthToTrafficLight(*candidate_path, current_lanes)) {
continue;
}

candidate_paths->push_back(*candidate_path);

std::vector<ExtendedPredictedObject> filtered_objects =
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