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fix(avoidance): don't reset registered shift lines if the base offset is not zero (#3971) #579

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merged 1 commit into from
Jun 14, 2023
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fix(avoidance): don't reset registered shift lines if the base offset is not zero (#3971) #579

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27 changes: 22 additions & 5 deletions ...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -311,17 +311,34 @@ class AvoidanceModule : public SceneModuleInterface

void insertYieldVelocity(ShiftedPath & shifted_path) const;

void removeAllRegisteredShiftPoints(PathShifter & path_shifter)
/**
* @brief reset registered shift lines.
* @details reset only when the base offset is zero. Otherwise, sudden steering will be caused;
*/
void removeRegisteredShiftLines()
{
constexpr double THRESHOLD = 0.1;
if (std::abs(path_shifter_.getBaseOffset()) > THRESHOLD) {
RCLCPP_INFO(getLogger(), "base offset is not zero. can't reset registered shift lines.");
return;
}

initRTCStatus();
unlockNewModuleLaunch();

current_raw_shift_lines_.clear();
registered_raw_shift_lines_.clear();
path_shifter.setShiftLines(ShiftLineArray{});
path_shifter_.setShiftLines(ShiftLineArray{});
}

void postProcess(PathShifter & path_shifter) const
/**
* @brief remove behind shift lines.
* @param path shifter.
*/
void postProcess()
{
const size_t nearest_idx = planner_data_->findEgoIndex(path_shifter.getReferencePath().points);
path_shifter.removeBehindShiftLineAndSetBaseOffset(nearest_idx);
const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points);
path_shifter_.removeBehindShiftLineAndSetBaseOffset(idx);
}

boost::optional<double> getFeasibleDecelDistance(const double target_velocity) const;
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8 changes: 3 additions & 5 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -575,9 +575,7 @@ void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, Shif
case AvoidanceState::YIELD: {
insertYieldVelocity(path);
insertWaitPoint(parameters_->use_constraints_for_decel, path);
initRTCStatus();
removeAllRegisteredShiftPoints(path_shifter_);
unlockNewModuleLaunch();
removeRegisteredShiftLines();
break;
}
case AvoidanceState::AVOID_PATH_NOT_READY: {
Expand Down Expand Up @@ -2818,7 +2816,7 @@ BehaviorModuleOutput AvoidanceModule::plan()

// post processing
{
postProcess(path_shifter_); // remove old shift points
postProcess(); // remove old shift points
prev_output_ = avoidance_path;
prev_linear_shift_path_ = utils::avoidance::toShiftedPath(avoidance_data_.reference_path);
path_shifter_.generate(&prev_linear_shift_path_, true, SHIFT_TYPE::LINEAR);
Expand Down Expand Up @@ -3084,7 +3082,7 @@ AvoidLineArray AvoidanceModule::findNewShiftLine(
// this value should be larger than -eps consider path shifter calculation error.
const double eps = 0.01;
if (candidate.start_longitudinal < -eps) {
continue;
break;
}

// TODO(Horibe): this code prohibits the changes on ego pose. Think later.
Expand Down