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feat(avoidance): improve avoidance judgement logic for pedestrian & bicycle #4016

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merged 4 commits into from
Jun 23, 2023
Merged

feat(avoidance): improve avoidance judgement logic for pedestrian & bicycle #4016

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b3a3c99
feat(avoidance): don't avoid pedestrian and bicycle on crosswalk
satoshi-ota Jun 20, 2023
7f1ae93
feat(avoidance): avoid pedestrian/bicycle near centerline
satoshi-ota Jun 20, 2023
1c72df1
feat(utils): use geometry distance
satoshi-ota Jun 21, 2023
d0196bf
chore(avoidance): add comment
satoshi-ota Jun 21, 2023
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chore(avoidance): add comment 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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satoshi-ota committed Jun 23, 2023
commit d0196bf79c96b030fdb77528e4eb3530c96d3d42
8 changes: 7 additions & 1 deletion planning/behavior_path_planner/src/utils/avoidance/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ bool isWithinCrosswalk(

boost::geometry::correct(polygon);

// ignore objects arround the crosswalk
// ignore objects around the crosswalk
if (boost::geometry::distance(p_object, polygon) < THRESHOLD) {
return true;
}
Expand Down Expand Up @@ -922,18 +922,24 @@ void filterTargetObjects(
}
}

// for non vehicle type object
if (!isVehicleTypeObject(o)) {
if (isWithinCrosswalk(o, rh->getOverallGraphPtr())) {
// avoidance module ignore pedestrian and bicycle around crosswalk
o.reason = "CrosswalkUser";
data.other_objects.push_back(o);
} else {
// if there is no crosswalk near the object, avoidance module avoids pedestrian and bicycle
// no matter how it is shifted.
o.last_seen = now;
o.avoid_margin = avoid_margin;
data.target_objects.push_back(o);
}
continue;
}

// from here condition check for vehicle type objects.

const auto stop_time_longer_than_threshold =
o.stop_time > parameters->threshold_time_force_avoidance_for_stopped_vehicle;

Expand Down