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feat(behavior_path_planner): change side shift module logic (autoware…
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…foundation#2195)

* change side shift module design

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>

* cherry picked side shift controller

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>

* add debug marker to side shift

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>

* fix pointer error due to direct assignment

added make_shared

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* add flow chart

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>

* add status of AFTER_SHIFT

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>

* remove function for debug

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>

* ci(pre-commit): autofix

* fix flow chart

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>

* ci(pre-commit): autofix

Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: tanaka3 <ttatcoder@outlook.jp>
Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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@kyoichi-sugahara @taikitanaka3
@zulfaqar-azmi-t4 @pre-commit-ci @HansRobo
4 people authored and HansRobo committed Dec 16, 2022
1 parent f38b7f3 commit f5c387a
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92 changes: 92 additions & 0 deletions planning/behavior_path_planner/behavior_path_planner_side-shift.md
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Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@
# Side shift Module

(For remote control) Shift the path to left or right according to an external instruction.

## Flowchart

```plantuml
@startuml
skinparam monochrome true
skinparam defaultTextAlignment center
skinparam noteTextAlignment left
title callback function of lateral offset input
start
partition onLateralOffset {
:**INPUT** double new_lateral_offset;
if (abs(inserted_lateral_offset_ - new_lateral_offset) < 1e-4) then ( true)
stop
else ( false)
if (interval from last request is too short) then ( no)
else ( yes)
:requested_lateral_offset_ = new_lateral_offset \n lateral_offset_change_request_ = true;
endif
stop
@enduml
```

```plantuml -->
@startuml
skinparam monochrome true
skinparam defaultTextAlignment center
skinparam noteTextAlignment left
title path generation
start
partition plan {
if (lateral_offset_change_request_ == true \n && \n (shifting_status_ == BEFORE_SHIFT \n || \n shifting_status_ == AFTER_SHIFT)) then ( true)
partition replace-shift-line {
if ( shift line is inserted in the path ) then ( yes)
:erase left shift line;
else ( no)
endif
:calcShiftLines;
:add new shift lines;
:inserted_lateral_offset_ = requested_lateral_offset_ \n inserted_shift_lines_ = new_shift_line;
}
else( false)
endif
stop
@enduml
```

```plantuml
@startuml
skinparam monochrome true
skinparam defaultTextAlignment center
skinparam noteTextAlignment left
title update state
start
partition updateState {
:last_sp = path_shifter_.getLastShiftLine();
note left
get furthest shift lines
end note
:calculate max_planned_shift_length;
note left
calculate furthest shift length of previous shifted path
end note
if (abs(inserted_lateral_offset_ - inserted_shift_line_.end_shift_length) < 1e-4 \n && \n abs(max_planned_shift_length) < 1e-4 \n && \n abs(requested_lateral_offset_) < 1e-4) then ( true)
:current_state_ = BT::NodeStatus::SUCCESS;
else (false)
if (ego's position is behind of shift line's start point) then( yes)
:shifting_status_ = BEFORE_SHIFT;
else ( no)
if ( ego's position is between shift line's start point and end point) then (yes)
:shifting_status_ = SHIFTING;
else( no)
:shifting_status_ = AFTER_SHIFT;
endif
endif
:current_state_ = BT::NodeStatus::RUNNING;
endif
stop
}
@enduml
```
17 changes: 14 additions & 3 deletions ..._path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@ using geometry_msgs::msg::Pose;
using nav_msgs::msg::OccupancyGrid;
using tier4_planning_msgs::msg::LateralOffset;

enum class SideShiftStatus { STOP = 0, BEFORE_SHIFT, SHIFTING, AFTER_SHIFT };

struct SideShiftParameters
{
double time_to_start_shifting;
Expand Down Expand Up @@ -87,7 +89,7 @@ class SideShiftModule : public SceneModuleInterface

ShiftLine calcShiftLine() const;

bool addShiftLine();
void replaceShiftLine();

// const methods
void publishPath(const PathWithLaneId & path) const;
Expand All @@ -100,8 +102,17 @@ class SideShiftModule : public SceneModuleInterface
lanelet::ConstLanelets current_lanelets_;
SideShiftParameters parameters_;

// Current lateral offset to shift the reference path.
double lateral_offset_{0.0};
// Requested lateral offset to shift the reference path.
double requested_lateral_offset_{0.0};

// Inserted lateral offset to shift the reference path.
double inserted_lateral_offset_{0.0};

// Inserted shift lines in the path
ShiftLine inserted_shift_line_;

// Shift status
SideShiftStatus shift_status_;

// Flag to check lateral offset change is requested
bool lateral_offset_change_request_{false};
Expand Down
139 changes: 48 additions & 91 deletions planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,10 @@ void SideShiftModule::initVariables()
{
reference_path_ = std::make_shared<PathWithLaneId>();
start_pose_reset_request_ = false;
lateral_offset_ = 0.0;
requested_lateral_offset_ = 0.0;
inserted_lateral_offset_ = 0.0;
inserted_shift_line_ = ShiftLine{};
shift_status_ = SideShiftStatus{};
prev_output_ = ShiftedPath{};
prev_shift_line_ = ShiftLine{};
path_shifter_ = PathShifter{};
Expand Down Expand Up @@ -79,7 +82,7 @@ bool SideShiftModule::isExecutionRequested() const

// If the desired offset has a non-zero value, return true as we want to execute the plan.

const bool has_request = !isAlmostZero(lateral_offset_);
const bool has_request = !isAlmostZero(requested_lateral_offset_);
RCLCPP_DEBUG_STREAM(
getLogger(), "ESS::isExecutionRequested() : " << std::boolalpha << has_request);

Expand Down Expand Up @@ -114,7 +117,7 @@ BT::NodeStatus SideShiftModule::updateState()
const auto last_sp = path_shifter_.getLastShiftLine();
if (last_sp) {
const auto length = std::fabs(last_sp.get().end_shift_length);
const auto lateral_offset = std::fabs(lateral_offset_);
const auto lateral_offset = std::fabs(requested_lateral_offset_);
const auto offset_diff = lateral_offset - length;
if (!isAlmostZero(offset_diff)) {
lateral_offset_change_request_ = true;
Expand All @@ -125,7 +128,7 @@ BT::NodeStatus SideShiftModule::updateState()
}();

const bool no_offset_diff = isOffsetDiffAlmostZero;
const bool no_request = isAlmostZero(lateral_offset_);
const bool no_request = isAlmostZero(requested_lateral_offset_);

const auto no_shifted_plan = [&]() {
if (prev_output_.shift_length.empty()) {
Expand All @@ -145,6 +148,22 @@ BT::NodeStatus SideShiftModule::updateState()
if (no_request && no_shifted_plan && no_offset_diff) {
current_state_ = BT::NodeStatus::SUCCESS;
} else {
const auto & current_lanes = util::getCurrentLanes(planner_data_);
const auto & current_pose = planner_data_->self_pose->pose;
const auto & inserted_shift_line_start_pose = inserted_shift_line_.start;
const auto & inserted_shift_line_end_pose = inserted_shift_line_.end;
const double self_to_shift_line_start_arc_length =
behavior_path_planner::util::getSignedDistance(
current_pose, inserted_shift_line_start_pose, current_lanes);
const double self_to_shift_line_end_arc_length = behavior_path_planner::util::getSignedDistance(
current_pose, inserted_shift_line_end_pose, current_lanes);
if (self_to_shift_line_start_arc_length >= 0) {
shift_status_ = SideShiftStatus::BEFORE_SHIFT;
} else if (self_to_shift_line_start_arc_length < 0 && self_to_shift_line_end_arc_length > 0) {
shift_status_ = SideShiftStatus::SHIFTING;
} else {
shift_status_ = SideShiftStatus::AFTER_SHIFT;
}
current_state_ = BT::NodeStatus::RUNNING;
}

Expand Down Expand Up @@ -179,103 +198,42 @@ void SideShiftModule::updateData()
path_shifter_.removeBehindShiftLineAndSetBaseOffset(nearest_idx);
}

bool SideShiftModule::addShiftLine()
void SideShiftModule::replaceShiftLine()
{
auto shift_lines = path_shifter_.getShiftLines();

const auto calcLongitudinal_to_shift_start = [this](const auto & sp) {
return motion_utils::calcSignedArcLength(
reference_path_->points, getEgoPose().pose.position, sp.start.position);
};
const auto calcLongitudinal_to_shift_end = [this](const auto & sp) {
return motion_utils::calcSignedArcLength(
reference_path_->points, getEgoPose().pose.position, sp.end.position);
};

// remove shift points on a far position.
const auto remove_far_iter = std::remove_if(
shift_lines.begin(), shift_lines.end(),
[this, calcLongitudinal_to_shift_start](const ShiftLine & sp) {
const auto dist_to_start = calcLongitudinal_to_shift_start(sp);
constexpr double max_remove_threshold_time = 1.0; // [s]
constexpr double max_remove_threshold_dist = 2.0; // [m]
const auto ego_current_speed = planner_data_->self_odometry->twist.twist.linear.x;
const auto remove_threshold =
std::max(ego_current_speed * max_remove_threshold_time, max_remove_threshold_dist);
return (dist_to_start > remove_threshold);
});

shift_lines.erase(remove_far_iter, shift_lines.end());

// check if the new_shift_lines overlap with existing shift points.
const auto new_sp = calcShiftLine();
// check if the new_shift_lines is same with lately inserted shift_lines.
if (new_sp.end_shift_length == prev_shift_line_.end_shift_length) {
return false;
if (shift_lines.size() > 0) {
shift_lines.clear();
}

const auto new_sp_longitudinal_to_shift_start = calcLongitudinal_to_shift_start(new_sp);
const auto new_sp_longitudinal_to_shift_end = calcLongitudinal_to_shift_end(new_sp);

const auto remove_overlap_iter = std::remove_if(
shift_lines.begin(), shift_lines.end(),
[this, calcLongitudinal_to_shift_start, calcLongitudinal_to_shift_end,
new_sp_longitudinal_to_shift_start, new_sp_longitudinal_to_shift_end](const ShiftLine & sp) {
const bool check_with_prev_sp = (sp.end_shift_length == prev_shift_line_.end_shift_length);
const auto old_sp_longitudinal_to_shift_start = calcLongitudinal_to_shift_start(sp);
const auto old_sp_longitudinal_to_shift_end = calcLongitudinal_to_shift_end(sp);
const bool sp_overlap_front =
((new_sp_longitudinal_to_shift_start <= old_sp_longitudinal_to_shift_start) &&
(old_sp_longitudinal_to_shift_start <= new_sp_longitudinal_to_shift_end));
const bool sp_overlap_back =
((new_sp_longitudinal_to_shift_start <= old_sp_longitudinal_to_shift_end) &&
(old_sp_longitudinal_to_shift_end <= new_sp_longitudinal_to_shift_end));
const bool sp_new_contain_old =
((new_sp_longitudinal_to_shift_start <= old_sp_longitudinal_to_shift_start) &&
(old_sp_longitudinal_to_shift_end <= new_sp_longitudinal_to_shift_end));
const bool sp_old_contain_new =
((old_sp_longitudinal_to_shift_start <= new_sp_longitudinal_to_shift_start) &&
(new_sp_longitudinal_to_shift_end <= old_sp_longitudinal_to_shift_end));
const bool overlap_with_new_sp =
(sp_overlap_front || sp_overlap_back || sp_new_contain_old || sp_old_contain_new);

return (overlap_with_new_sp && !check_with_prev_sp);
});

shift_lines.erase(remove_overlap_iter, shift_lines.end());

// check if the new_shift_line has conflicts with existing shift points.
for (const auto & sp : shift_lines) {
if (calcLongitudinal_to_shift_start(sp) >= new_sp_longitudinal_to_shift_start) {
RCLCPP_WARN(
getLogger(),
"try to add shift point, but shift point already exists behind the proposed point. "
"Ignore the current proposal.");
return false;
}
}
const auto new_sl = calcShiftLine();

// if no conflict, then add the new point.
shift_lines.push_back(new_sp);
const bool new_sp_is_same_with_previous =
new_sp.end_shift_length == prev_shift_line_.end_shift_length;
shift_lines.push_back(new_sl);
const bool new_sl_is_same_with_previous =
new_sl.end_shift_length == prev_shift_line_.end_shift_length;

if (!new_sp_is_same_with_previous) {
prev_shift_line_ = new_sp;
if (!new_sl_is_same_with_previous) {
prev_shift_line_ = new_sl;
}

// set to path_shifter
path_shifter_.setShiftLines(shift_lines);
lateral_offset_change_request_ = false;
inserted_lateral_offset_ = requested_lateral_offset_;
inserted_shift_line_ = new_sl;

return true;
return;
}

BehaviorModuleOutput SideShiftModule::plan()
{
// Update shift point
if (lateral_offset_change_request_) {
addShiftLine();
// Replace shift line
if (
lateral_offset_change_request_ && ((shift_status_ == SideShiftStatus::BEFORE_SHIFT) ||
(shift_status_ == SideShiftStatus::AFTER_SHIFT))) {
replaceShiftLine();
} else if (shift_status_ != SideShiftStatus::BEFORE_SHIFT) {
RCLCPP_DEBUG(getLogger(), "ego is shifting");
} else {
RCLCPP_DEBUG(getLogger(), "change is not requested");
}
Expand Down Expand Up @@ -340,11 +298,11 @@ void SideShiftModule::onLateralOffset(const LateralOffset::ConstSharedPtr latera
const double new_lateral_offset = lateral_offset_msg->lateral_offset;

RCLCPP_DEBUG(
getLogger(), "onLateralOffset start : lateral offset current = %f, new = &%f", lateral_offset_,
new_lateral_offset);
getLogger(), "onLateralOffset start : lateral offset current = %f, new = &%f",
requested_lateral_offset_, new_lateral_offset);

// offset is not changed.
if (std::abs(lateral_offset_ - new_lateral_offset) < 1e-4) {
if (std::abs(inserted_lateral_offset_ - new_lateral_offset) < 1e-4) {
return;
}

Expand All @@ -355,8 +313,7 @@ void SideShiftModule::onLateralOffset(const LateralOffset::ConstSharedPtr latera
// new offset is requested.
if (isReadyForNextRequest(parameters_.shift_request_time_limit)) {
lateral_offset_change_request_ = true;

lateral_offset_ = new_lateral_offset;
requested_lateral_offset_ = new_lateral_offset;
}
}

Expand All @@ -369,7 +326,7 @@ ShiftLine SideShiftModule::calcShiftLine() const
std::max(p.min_distance_to_start_shifting, ego_speed * p.time_to_start_shifting);

const double dist_to_end = [&]() {
const double shift_length = lateral_offset_ - getClosestShiftLength();
const double shift_length = requested_lateral_offset_ - getClosestShiftLength();
const double jerk_shifting_distance = path_shifter_.calcLongitudinalDistFromJerk(
shift_length, p.shifting_lateral_jerk, std::max(ego_speed, p.min_shifting_speed));
const double shifting_distance = std::max(jerk_shifting_distance, p.min_shifting_distance);
Expand All @@ -382,7 +339,7 @@ ShiftLine SideShiftModule::calcShiftLine() const

const size_t nearest_idx = findEgoIndex(reference_path_->points);
ShiftLine shift_line;
shift_line.end_shift_length = lateral_offset_;
shift_line.end_shift_length = requested_lateral_offset_;
shift_line.start_idx = util::getIdxByArclength(*reference_path_, nearest_idx, dist_to_start);
shift_line.start = reference_path_->points.at(shift_line.start_idx).point.pose;
shift_line.end_idx = util::getIdxByArclength(*reference_path_, nearest_idx, dist_to_end);
Expand Down

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