forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 34
/
Copy pathnode.cpp
1063 lines (918 loc) · 42.6 KB
/
node.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
// Copyright 2022 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "obstacle_cruise_planner/node.hpp"
#include "obstacle_cruise_planner/polygon_utils.hpp"
#include "obstacle_cruise_planner/utils.hpp"
#include "tier4_autoware_utils/ros/update_param.hpp"
#include "tier4_autoware_utils/trajectory/tmp_conversion.hpp"
#include <boost/format.hpp>
#include <algorithm>
#include <chrono>
namespace
{
VelocityLimitClearCommand createVelocityLimitClearCommandMsg(const rclcpp::Time & current_time)
{
VelocityLimitClearCommand msg;
msg.stamp = current_time;
msg.sender = "obstacle_cruise_planner";
msg.command = true;
return msg;
}
// TODO(murooka) make this function common
size_t findExtendedNearestIndex(
const Trajectory traj, const geometry_msgs::msg::Pose & pose, const double max_dist,
const double max_yaw)
{
const auto nearest_idx =
tier4_autoware_utils::findNearestIndex(traj.points, pose, max_dist, max_yaw);
if (nearest_idx) {
return nearest_idx.get();
}
return tier4_autoware_utils::findNearestIndex(traj.points, pose.position);
}
Trajectory trimTrajectoryFrom(const Trajectory & input, const double nearest_idx)
{
Trajectory output{};
for (size_t i = nearest_idx; i < input.points.size(); ++i) {
output.points.push_back(input.points.at(i));
}
return output;
}
bool isFrontObstacle(
const Trajectory & traj, const size_t ego_idx, const geometry_msgs::msg::Point & obj_pos)
{
size_t obj_idx = tier4_autoware_utils::findNearestSegmentIndex(traj.points, obj_pos);
const double ego_to_obj_distance =
tier4_autoware_utils::calcSignedArcLength(traj.points, ego_idx, obj_idx);
if (ego_to_obj_distance < 0) {
return false;
}
return true;
}
TrajectoryPoint calcLinearPoint(
const TrajectoryPoint & p_from, const TrajectoryPoint & p_to, const double length)
{
TrajectoryPoint output;
const double dx = p_to.pose.position.x - p_from.pose.position.x;
const double dy = p_to.pose.position.y - p_from.pose.position.y;
const double norm = std::hypot(dx, dy);
output = p_to;
output.pose.position.x += length * dx / norm;
output.pose.position.y += length * dy / norm;
return output;
}
// TODO(murooka) replace with spline interpolation
Trajectory decimateTrajectory(const Trajectory & input, const double step_length)
{
Trajectory output{};
if (input.points.empty()) {
return output;
}
double trajectory_length_sum = 0.0;
double next_length = 0.0;
constexpr double epsilon = 1e-3;
for (int i = 0; i < static_cast<int>(input.points.size()) - 1; ++i) {
const auto & p_front = input.points.at(i);
const auto & p_back = input.points.at(i + 1);
if (next_length <= trajectory_length_sum + epsilon) {
const auto p_interpolate =
calcLinearPoint(p_front, p_back, next_length - trajectory_length_sum);
output.points.push_back(p_interpolate);
next_length += step_length;
continue;
}
trajectory_length_sum += tier4_autoware_utils::calcDistance2d(p_front, p_back);
}
// avoid "Same points are given"
if (
!input.points.empty() && !output.points.empty() &&
epsilon < tier4_autoware_utils::calcDistance2d(input.points.back(), output.points.back())) {
output.points.push_back(input.points.back());
}
return output;
}
PredictedPath getHighestConfidencePredictedPath(const PredictedObject & predicted_object)
{
const auto reliable_path = std::max_element(
predicted_object.kinematics.predicted_paths.begin(),
predicted_object.kinematics.predicted_paths.end(),
[](const PredictedPath & a, const PredictedPath & b) { return a.confidence < b.confidence; });
return *reliable_path;
}
bool isAngleAlignedWithTrajectory(
const Trajectory & traj, const geometry_msgs::msg::Pose & pose, const double threshold_angle)
{
if (traj.points.empty()) {
return false;
}
const double obj_yaw = tf2::getYaw(pose.orientation);
const size_t nearest_idx = tier4_autoware_utils::findNearestIndex(traj.points, pose.position);
const double traj_yaw = tf2::getYaw(traj.points.at(nearest_idx).pose.orientation);
const double diff_yaw = tier4_autoware_utils::normalizeRadian(obj_yaw - traj_yaw);
// TODO(perception team) Currently predicted objects does not have orientation availability even
// though sometimes orientation is not available.
const bool is_aligned =
std::abs(diff_yaw) <= threshold_angle || std::abs(M_PI - std::abs(diff_yaw)) <= threshold_angle;
return is_aligned;
}
double calcAlignedAdaptiveCruise(
const PredictedObject & predicted_object, const Trajectory & trajectory)
{
const auto & object_pos = predicted_object.kinematics.initial_pose_with_covariance.pose.position;
const auto & object_vel =
predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x;
const size_t object_idx = tier4_autoware_utils::findNearestIndex(trajectory.points, object_pos);
const double object_yaw =
tf2::getYaw(predicted_object.kinematics.initial_pose_with_covariance.pose.orientation);
const double traj_yaw = tf2::getYaw(trajectory.points.at(object_idx).pose.orientation);
return object_vel * std::cos(object_yaw - traj_yaw);
}
} // namespace
namespace motion_planning
{
ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & node_options)
: Node("obstacle_cruise_planner", node_options),
self_pose_listener_(this),
in_objects_ptr_(nullptr),
lpf_acc_ptr_(nullptr),
vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo())
{
using std::placeholders::_1;
// subscriber
trajectory_sub_ = create_subscription<Trajectory>(
"~/input/trajectory", rclcpp::QoS{1},
std::bind(&ObstacleCruisePlannerNode::onTrajectory, this, _1));
smoothed_trajectory_sub_ = create_subscription<Trajectory>(
"/planning/scenario_planning/trajectory", rclcpp::QoS{1},
std::bind(&ObstacleCruisePlannerNode::onSmoothedTrajectory, this, _1));
objects_sub_ = create_subscription<PredictedObjects>(
"~/input/objects", rclcpp::QoS{1}, std::bind(&ObstacleCruisePlannerNode::onObjects, this, _1));
odom_sub_ = create_subscription<Odometry>(
"~/input/odometry", rclcpp::QoS{1},
std::bind(&ObstacleCruisePlannerNode::onOdometry, this, std::placeholders::_1));
// publisher
trajectory_pub_ = create_publisher<Trajectory>("~/output/trajectory", 1);
vel_limit_pub_ =
create_publisher<VelocityLimit>("~/output/velocity_limit", rclcpp::QoS{1}.transient_local());
clear_vel_limit_pub_ = create_publisher<VelocityLimitClearCommand>(
"~/output/clear_velocity_limit", rclcpp::QoS{1}.transient_local());
debug_calculation_time_pub_ = create_publisher<Float32Stamped>("~/debug/calculation_time", 1);
debug_cruise_wall_marker_pub_ =
create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/cruise_wall_marker", 1);
debug_stop_wall_marker_pub_ =
create_publisher<visualization_msgs::msg::MarkerArray>("~/virtual_wall", 1);
debug_marker_pub_ = create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/marker", 1);
// longitudinal_info
const auto longitudinal_info = [&]() {
const double max_accel = declare_parameter<double>("normal.max_acc");
const double min_accel = declare_parameter<double>("normal.min_acc");
const double max_jerk = declare_parameter<double>("normal.max_jerk");
const double min_jerk = declare_parameter<double>("normal.min_jerk");
const double limit_max_accel = declare_parameter<double>("limit.max_acc");
const double limit_min_accel = declare_parameter<double>("limit.min_acc");
const double limit_max_jerk = declare_parameter<double>("limit.max_jerk");
const double limit_min_jerk = declare_parameter<double>("limit.min_jerk");
const double min_ego_accel_for_rss = declare_parameter<double>("common.min_ego_accel_for_rss");
const double min_object_accel_for_rss =
declare_parameter<double>("common.min_object_accel_for_rss");
const double idling_time = declare_parameter<double>("common.idling_time");
const double safe_distance_margin = declare_parameter<double>("common.safe_distance_margin");
return LongitudinalInfo{
max_accel,
min_accel,
max_jerk,
min_jerk,
limit_max_accel,
limit_min_accel,
limit_max_jerk,
limit_min_jerk,
idling_time,
min_ego_accel_for_rss,
min_object_accel_for_rss,
safe_distance_margin};
}();
is_showing_debug_info_ = declare_parameter<bool>("common.is_showing_debug_info");
// low pass filter for ego acceleration
const double lpf_gain_for_accel = declare_parameter<double>("common.lpf_gain_for_accel");
lpf_acc_ptr_ = std::make_shared<LowpassFilter1d>(lpf_gain_for_accel);
{ // Obstacle filtering parameters
obstacle_filtering_param_.rough_detection_area_expand_width =
declare_parameter<double>("obstacle_filtering.rough_detection_area_expand_width");
obstacle_filtering_param_.detection_area_expand_width =
declare_parameter<double>("obstacle_filtering.detection_area_expand_width");
obstacle_filtering_param_.decimate_trajectory_step_length =
declare_parameter<double>("obstacle_filtering.decimate_trajectory_step_length");
obstacle_filtering_param_.crossing_obstacle_velocity_threshold =
declare_parameter<double>("obstacle_filtering.crossing_obstacle_velocity_threshold");
obstacle_filtering_param_.collision_time_margin =
declare_parameter<double>("obstacle_filtering.collision_time_margin");
obstacle_filtering_param_.outside_rough_detection_area_expand_width =
declare_parameter<double>("obstacle_filtering.outside_rough_detection_area_expand_width");
obstacle_filtering_param_.ego_obstacle_overlap_time_threshold =
declare_parameter<double>("obstacle_filtering.ego_obstacle_overlap_time_threshold");
obstacle_filtering_param_.max_prediction_time_for_collision_check =
declare_parameter<double>("obstacle_filtering.max_prediction_time_for_collision_check");
obstacle_filtering_param_.crossing_obstacle_traj_angle_threshold =
declare_parameter<double>("obstacle_filtering.crossing_obstacle_traj_angle_threshold");
obstacle_filtering_param_.stop_obstacle_hold_time_threshold =
declare_parameter<double>("obstacle_filtering.stop_obstacle_hold_time_threshold");
{
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.unknown")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::UNKNOWN);
}
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.car")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::CAR);
}
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.truck")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::TRUCK);
}
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.bus")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::BUS);
}
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.trailer")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::TRAILER);
}
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.motorcycle")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::MOTORCYCLE);
}
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.bicycle")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::BICYCLE);
}
if (declare_parameter<bool>("obstacle_filtering.ignored_outside_obstacle_type.pedestrian")) {
obstacle_filtering_param_.ignored_outside_obstacle_types.push_back(
ObjectClassification::PEDESTRIAN);
}
}
}
{ // planning algorithm
const std::string planning_algorithm_param =
declare_parameter<std::string>("common.planning_algorithm");
planning_algorithm_ = getPlanningAlgorithmType(planning_algorithm_param);
if (planning_algorithm_ == PlanningAlgorithm::OPTIMIZATION_BASE) {
planner_ptr_ =
std::make_unique<OptimizationBasedPlanner>(*this, longitudinal_info, vehicle_info_);
} else if (planning_algorithm_ == PlanningAlgorithm::PID_BASE) {
planner_ptr_ = std::make_unique<PIDBasedPlanner>(*this, longitudinal_info, vehicle_info_);
} else {
std::logic_error("Designated algorithm is not supported.");
}
min_behavior_stop_margin_ = declare_parameter<double>("common.min_behavior_stop_margin");
nearest_dist_deviation_threshold_ =
declare_parameter<double>("common.nearest_dist_deviation_threshold");
nearest_yaw_deviation_threshold_ =
declare_parameter<double>("common.nearest_yaw_deviation_threshold");
obstacle_velocity_threshold_from_cruise_to_stop_ =
declare_parameter<double>("common.obstacle_velocity_threshold_from_cruise_to_stop");
obstacle_velocity_threshold_from_stop_to_cruise_ =
declare_parameter<double>("common.obstacle_velocity_threshold_from_stop_to_cruise");
planner_ptr_->setParams(
is_showing_debug_info_, min_behavior_stop_margin_, nearest_dist_deviation_threshold_,
nearest_yaw_deviation_threshold_);
}
{ // cruise obstacle type
if (declare_parameter<bool>("common.cruise_obstacle_type.unknown")) {
cruise_obstacle_types_.push_back(ObjectClassification::UNKNOWN);
}
if (declare_parameter<bool>("common.cruise_obstacle_type.car")) {
cruise_obstacle_types_.push_back(ObjectClassification::CAR);
}
if (declare_parameter<bool>("common.cruise_obstacle_type.truck")) {
cruise_obstacle_types_.push_back(ObjectClassification::TRUCK);
}
if (declare_parameter<bool>("common.cruise_obstacle_type.bus")) {
cruise_obstacle_types_.push_back(ObjectClassification::BUS);
}
if (declare_parameter<bool>("common.cruise_obstacle_type.trailer")) {
cruise_obstacle_types_.push_back(ObjectClassification::TRAILER);
}
if (declare_parameter<bool>("common.cruise_obstacle_type.motorcycle")) {
cruise_obstacle_types_.push_back(ObjectClassification::MOTORCYCLE);
}
if (declare_parameter<bool>("common.cruise_obstacle_type.bicycle")) {
cruise_obstacle_types_.push_back(ObjectClassification::BICYCLE);
}
if (declare_parameter<bool>("common.cruise_obstacle_type.pedestrian")) {
cruise_obstacle_types_.push_back(ObjectClassification::PEDESTRIAN);
}
}
{ // stop obstacle type
if (declare_parameter<bool>("common.stop_obstacle_type.unknown")) {
stop_obstacle_types_.push_back(ObjectClassification::UNKNOWN);
}
if (declare_parameter<bool>("common.stop_obstacle_type.car")) {
stop_obstacle_types_.push_back(ObjectClassification::CAR);
}
if (declare_parameter<bool>("common.stop_obstacle_type.truck")) {
stop_obstacle_types_.push_back(ObjectClassification::TRUCK);
}
if (declare_parameter<bool>("common.stop_obstacle_type.bus")) {
stop_obstacle_types_.push_back(ObjectClassification::BUS);
}
if (declare_parameter<bool>("common.stop_obstacle_type.trailer")) {
stop_obstacle_types_.push_back(ObjectClassification::TRAILER);
}
if (declare_parameter<bool>("common.stop_obstacle_type.motorcycle")) {
stop_obstacle_types_.push_back(ObjectClassification::MOTORCYCLE);
}
if (declare_parameter<bool>("common.stop_obstacle_type.bicycle")) {
stop_obstacle_types_.push_back(ObjectClassification::BICYCLE);
}
if (declare_parameter<bool>("common.stop_obstacle_type.pedestrian")) {
stop_obstacle_types_.push_back(ObjectClassification::PEDESTRIAN);
}
}
// wait for first self pose
self_pose_listener_.waitForFirstPose();
// set parameter callback
set_param_res_ = this->add_on_set_parameters_callback(
std::bind(&ObstacleCruisePlannerNode::onParam, this, std::placeholders::_1));
}
ObstacleCruisePlannerNode::PlanningAlgorithm ObstacleCruisePlannerNode::getPlanningAlgorithmType(
const std::string & param) const
{
if (param == "pid_base") {
return PlanningAlgorithm::PID_BASE;
} else if (param == "optimization_base") {
return PlanningAlgorithm::OPTIMIZATION_BASE;
}
return PlanningAlgorithm::INVALID;
}
rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam(
const std::vector<rclcpp::Parameter> & parameters)
{
planner_ptr_->updateCommonParam(parameters);
planner_ptr_->updateParam(parameters);
tier4_autoware_utils::updateParam<bool>(
parameters, "common.is_showing_debug_info", is_showing_debug_info_);
planner_ptr_->setParams(
is_showing_debug_info_, min_behavior_stop_margin_, nearest_dist_deviation_threshold_,
nearest_yaw_deviation_threshold_);
// obstacle_filtering
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.rough_detection_area_expand_width",
obstacle_filtering_param_.rough_detection_area_expand_width);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.detection_area_expand_width",
obstacle_filtering_param_.detection_area_expand_width);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.decimate_trajectory_step_length",
obstacle_filtering_param_.decimate_trajectory_step_length);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.crossing_obstacle_velocity_threshold",
obstacle_filtering_param_.crossing_obstacle_velocity_threshold);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.collision_time_margin",
obstacle_filtering_param_.collision_time_margin);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.outside_rough_detection_area_expand_width",
obstacle_filtering_param_.outside_rough_detection_area_expand_width);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.ego_obstacle_overlap_time_threshold",
obstacle_filtering_param_.ego_obstacle_overlap_time_threshold);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.max_prediction_time_for_collision_check",
obstacle_filtering_param_.max_prediction_time_for_collision_check);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.crossing_obstacle_traj_angle_threshold",
obstacle_filtering_param_.crossing_obstacle_traj_angle_threshold);
tier4_autoware_utils::updateParam<double>(
parameters, "obstacle_filtering.stop_obstacle_hold_time_threshold",
obstacle_filtering_param_.stop_obstacle_hold_time_threshold);
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
result.reason = "success";
return result;
}
void ObstacleCruisePlannerNode::onObjects(const PredictedObjects::ConstSharedPtr msg)
{
in_objects_ptr_ = msg;
}
void ObstacleCruisePlannerNode::onOdometry(const Odometry::ConstSharedPtr msg)
{
if (current_twist_ptr_) {
prev_twist_ptr_ = current_twist_ptr_;
}
current_twist_ptr_ = std::make_unique<geometry_msgs::msg::TwistStamped>();
current_twist_ptr_->header = msg->header;
current_twist_ptr_->twist = msg->twist.twist;
}
void ObstacleCruisePlannerNode::onSmoothedTrajectory(const Trajectory::ConstSharedPtr msg)
{
planner_ptr_->setSmoothedTrajectory(msg);
}
void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr msg)
{
const auto current_pose_ptr = self_pose_listener_.getCurrentPose();
// check if subscribed variables are ready
if (
msg->points.empty() || !current_twist_ptr_ || !prev_twist_ptr_ || !in_objects_ptr_ ||
!current_pose_ptr) {
return;
}
stop_watch_.tic(__func__);
// Get Target Obstacles
DebugData debug_data;
const auto target_obstacles = getTargetObstacles(
*msg, current_pose_ptr->pose, current_twist_ptr_->twist.linear.x, debug_data);
// create data for stop
const auto stop_data = createStopData(*msg, current_pose_ptr->pose, target_obstacles);
// stop planning
const auto stop_traj = planner_ptr_->generateStopTrajectory(stop_data, debug_data);
// create data for cruise
const auto cruise_data = createCruiseData(stop_traj, current_pose_ptr->pose, target_obstacles);
// cruise planning
boost::optional<VelocityLimit> vel_limit;
const auto output_traj =
planner_ptr_->generateCruiseTrajectory(cruise_data, vel_limit, debug_data);
// publisher external velocity limit if required
publishVelocityLimit(vel_limit);
// Publish trajectory
trajectory_pub_->publish(output_traj);
// publish debug data
publishDebugData(debug_data);
// publish and print calculation time
const double calculation_time = stop_watch_.toc(__func__);
publishCalculationTime(calculation_time);
RCLCPP_INFO_EXPRESSION(
rclcpp::get_logger("ObstacleCruisePlanner"), is_showing_debug_info_, "%s := %f [ms]", __func__,
calculation_time);
}
bool ObstacleCruisePlannerNode::isCruiseObstacle(const uint8_t label)
{
const auto & types = cruise_obstacle_types_;
return std::find(types.begin(), types.end(), label) != types.end();
}
bool ObstacleCruisePlannerNode::isStopObstacle(const uint8_t label)
{
const auto & types = stop_obstacle_types_;
return std::find(types.begin(), types.end(), label) != types.end();
}
ObstacleCruisePlannerData ObstacleCruisePlannerNode::createStopData(
const Trajectory & trajectory, const geometry_msgs::msg::Pose & current_pose,
const std::vector<TargetObstacle> & obstacles)
{
const auto current_time = now();
const double current_vel = current_twist_ptr_->twist.linear.x;
const double current_accel = calcCurrentAccel();
// create planner_stop data
ObstacleCruisePlannerData planner_data;
planner_data.current_time = current_time;
planner_data.traj = trajectory;
planner_data.current_pose = current_pose;
planner_data.current_vel = current_vel;
planner_data.current_acc = current_accel;
for (const auto & obstacle : obstacles) {
if (obstacle.has_stopped) {
planner_data.target_obstacles.push_back(obstacle);
}
}
return planner_data;
}
ObstacleCruisePlannerData ObstacleCruisePlannerNode::createCruiseData(
const Trajectory & trajectory, const geometry_msgs::msg::Pose & current_pose,
const std::vector<TargetObstacle> & obstacles)
{
const auto current_time = now();
const double current_vel = current_twist_ptr_->twist.linear.x;
const double current_accel = calcCurrentAccel();
// create planner_stop data
ObstacleCruisePlannerData planner_data;
planner_data.current_time = current_time;
planner_data.traj = trajectory;
planner_data.current_pose = current_pose;
planner_data.current_vel = current_vel;
planner_data.current_acc = current_accel;
for (const auto & obstacle : obstacles) {
if (!obstacle.has_stopped) {
planner_data.target_obstacles.push_back(obstacle);
}
}
return planner_data;
}
double ObstacleCruisePlannerNode::calcCurrentAccel() const
{
const double diff_vel = current_twist_ptr_->twist.linear.x - prev_twist_ptr_->twist.linear.x;
const double diff_time = std::max(
(rclcpp::Time(current_twist_ptr_->header.stamp) - rclcpp::Time(prev_twist_ptr_->header.stamp))
.seconds(),
1e-03);
const double accel = diff_vel / diff_time;
return lpf_acc_ptr_->filter(accel);
}
std::vector<TargetObstacle> ObstacleCruisePlannerNode::getTargetObstacles(
const Trajectory & trajectory, const geometry_msgs::msg::Pose & current_pose,
const double current_vel, DebugData & debug_data)
{
stop_watch_.tic(__func__);
const auto target_obstacles =
filterObstacles(*in_objects_ptr_, trajectory, current_pose, current_vel, debug_data);
// print calculation time
const double calculation_time = stop_watch_.toc(__func__);
RCLCPP_INFO_EXPRESSION(
rclcpp::get_logger("ObstacleCruisePlanner"), is_showing_debug_info_, " %s := %f [ms]",
__func__, calculation_time);
return target_obstacles;
}
std::vector<TargetObstacle> ObstacleCruisePlannerNode::filterObstacles(
const PredictedObjects & predicted_objects, const Trajectory & traj,
const geometry_msgs::msg::Pose & current_pose, const double current_vel, DebugData & debug_data)
{
const auto current_time = now();
const auto time_stamp = rclcpp::Time(predicted_objects.header.stamp);
const size_t ego_idx = findExtendedNearestIndex(
traj, current_pose, nearest_dist_deviation_threshold_, nearest_yaw_deviation_threshold_);
// calculate decimated trajectory
const auto trimmed_traj = trimTrajectoryFrom(traj, ego_idx);
const auto decimated_traj =
decimateTrajectory(trimmed_traj, obstacle_filtering_param_.decimate_trajectory_step_length);
if (decimated_traj.points.size() < 2) {
return {};
}
// calculate decimated trajectory polygons
const auto decimated_traj_polygons = polygon_utils::createOneStepPolygons(
decimated_traj, vehicle_info_, obstacle_filtering_param_.detection_area_expand_width);
debug_data.detection_polygons = decimated_traj_polygons;
std::vector<TargetObstacle> target_obstacles;
for (const auto & predicted_object : predicted_objects.objects) {
const auto object_id = toHexString(predicted_object.object_id).substr(0, 4);
// filter object whose label is not cruised or stopped
const bool is_target_obstacle = isStopObstacle(predicted_object.classification.front().label) ||
isCruiseObstacle(predicted_object.classification.front().label);
if (!is_target_obstacle) {
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_, "Ignore obstacle (%s) since its label is not target.",
object_id.c_str());
continue;
}
const auto object_pose = obstacle_cruise_utils::getCurrentObjectPose(
predicted_object, time_stamp, current_time, false);
const auto & object_velocity =
predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x;
const bool is_front_obstacle = isFrontObstacle(traj, ego_idx, object_pose.position);
if (!is_front_obstacle) {
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_,
"Ignore obstacle (%s) since it is not front obstacle.", object_id.c_str());
continue;
}
// rough detection area filtering without polygons
const double dist_from_obstacle_to_traj = [&]() {
return tier4_autoware_utils::calcLateralOffset(decimated_traj.points, object_pose.position);
}();
if (
std::fabs(dist_from_obstacle_to_traj) >
vehicle_info_.vehicle_width_m + obstacle_filtering_param_.rough_detection_area_expand_width) {
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_,
"Ignore obstacle (%s) since it is far from the trajectory.", object_id.c_str());
continue;
}
// calculate collision points
const auto obstacle_polygon =
polygon_utils::convertObstacleToPolygon(object_pose, predicted_object.shape);
std::vector<geometry_msgs::msg::Point> collision_points;
const auto first_within_idx = polygon_utils::getFirstCollisionIndex(
decimated_traj_polygons, obstacle_polygon, collision_points);
// precise detection area filtering with polygons
geometry_msgs::msg::Point nearest_collision_point;
if (first_within_idx) { // obstacles inside the trajectory
// calculate nearest collision point
nearest_collision_point =
calcNearestCollisionPoint(first_within_idx.get(), collision_points, decimated_traj);
debug_data.collision_points.push_back(nearest_collision_point);
const bool is_angle_aligned = isAngleAlignedWithTrajectory(
decimated_traj, object_pose,
obstacle_filtering_param_.crossing_obstacle_traj_angle_threshold);
const double has_high_speed =
std::abs(object_velocity) > obstacle_filtering_param_.crossing_obstacle_velocity_threshold;
// ignore running vehicle crossing the ego trajectory with high speed with some condition
if (!is_angle_aligned && has_high_speed) {
const double collision_time_margin = calcCollisionTimeMargin(
current_pose, current_vel, nearest_collision_point, predicted_object,
first_within_idx.get(), decimated_traj, decimated_traj_polygons);
if (collision_time_margin > obstacle_filtering_param_.collision_time_margin) {
// Ignore vehicle obstacles inside the trajectory, which is crossing the trajectory with
// high speed and does not collide with ego in a certain time.
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_,
"Ignore inside obstacle (%s) since it will not collide with the ego.",
object_id.c_str());
debug_data.intentionally_ignored_obstacles.push_back(predicted_object);
continue;
}
}
} else { // obstacles outside the trajectory
const auto & types = obstacle_filtering_param_.ignored_outside_obstacle_types;
if (
std::find(types.begin(), types.end(), predicted_object.classification.front().label) !=
types.end()) {
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_,
"Ignore outside obstacle (%s) since its type is not designated.", object_id.c_str());
continue;
}
if (
std::fabs(dist_from_obstacle_to_traj) >
vehicle_info_.vehicle_width_m +
obstacle_filtering_param_.outside_rough_detection_area_expand_width) {
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_,
"Ignore outside obstacle (%s) since it is far from the trajectory.", object_id.c_str());
continue;
}
const auto predicted_path_with_highest_confidence =
getHighestConfidencePredictedPath(predicted_object);
std::vector<geometry_msgs::msg::Point> future_collision_points;
const auto collision_traj_poly_idx = polygon_utils::willCollideWithSurroundObstacle(
decimated_traj, decimated_traj_polygons, predicted_path_with_highest_confidence,
predicted_object.shape,
vehicle_info_.vehicle_width_m + obstacle_filtering_param_.rough_detection_area_expand_width,
obstacle_filtering_param_.ego_obstacle_overlap_time_threshold,
obstacle_filtering_param_.max_prediction_time_for_collision_check, future_collision_points);
if (!collision_traj_poly_idx) {
// Ignore vehicle obstacles outside the trajectory, whose predicted path
// overlaps the ego trajectory in a certain time.
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_,
"Ignore outside obstacle (%s) since it will not collide with the ego.",
object_id.c_str());
debug_data.intentionally_ignored_obstacles.push_back(predicted_object);
continue;
}
nearest_collision_point = calcNearestCollisionPoint(
collision_traj_poly_idx.get(), future_collision_points, decimated_traj);
debug_data.collision_points.push_back(nearest_collision_point);
}
// convert to obstacle type
const double trajectory_aligned_adaptive_cruise =
calcAlignedAdaptiveCruise(predicted_object, traj);
const auto target_obstacle = TargetObstacle(
time_stamp, predicted_object, trajectory_aligned_adaptive_cruise, nearest_collision_point);
target_obstacles.push_back(target_obstacle);
}
// update stop status
updateHasStopped(target_obstacles);
// Check target obstacles' consistency
checkConsistency(time_stamp, predicted_objects, traj, target_obstacles);
return target_obstacles;
}
void ObstacleCruisePlannerNode::updateHasStopped(std::vector<TargetObstacle> & target_obstacles)
{
for (auto & obstacle : target_obstacles) {
const bool is_cruise_obstacle = isCruiseObstacle(obstacle.classification.label);
const bool is_stop_obstacle = isStopObstacle(obstacle.classification.label);
if (is_stop_obstacle && !is_cruise_obstacle) {
obstacle.has_stopped = true;
continue;
}
if (is_cruise_obstacle) {
const auto itr = std::find_if(
prev_target_obstacles_.begin(), prev_target_obstacles_.end(),
[&](const auto & prev_target_obstacle) {
return obstacle.uuid == prev_target_obstacle.uuid;
});
const bool has_already_stopped = (itr != prev_target_obstacles_.end()) && itr->has_stopped;
if (has_already_stopped) {
if (obstacle.velocity < obstacle_velocity_threshold_from_stop_to_cruise_) {
obstacle.has_stopped = true;
continue;
}
} else {
if (obstacle.velocity < obstacle_velocity_threshold_from_cruise_to_stop_) {
obstacle.has_stopped = true;
continue;
}
}
}
obstacle.has_stopped = false;
}
prev_target_obstacles_ = target_obstacles;
}
void ObstacleCruisePlannerNode::checkConsistency(
const rclcpp::Time & current_time, const PredictedObjects & predicted_objects,
const Trajectory & traj, std::vector<TargetObstacle> & target_obstacles)
{
const auto current_closest_obstacle =
obstacle_cruise_utils::getClosestStopObstacle(traj, target_obstacles);
// If previous closest obstacle ptr is not set
if (!prev_closest_obstacle_ptr_) {
if (current_closest_obstacle) {
prev_closest_obstacle_ptr_ = std::make_shared<TargetObstacle>(*current_closest_obstacle);
}
return;
}
// Put previous closest target obstacle if necessary
const auto predicted_object_itr = std::find_if(
predicted_objects.objects.begin(), predicted_objects.objects.end(),
[&](PredictedObject predicted_object) {
return obstacle_cruise_utils::toHexString(predicted_object.object_id) ==
prev_closest_obstacle_ptr_->uuid;
});
// If previous closest obstacle is not in the current perception lists
// just return the current target obstacles
if (predicted_object_itr == predicted_objects.objects.end()) {
return;
}
// Previous closest obstacle is in the perception lists
const auto target_obstacle_itr = std::find_if(
target_obstacles.begin(), target_obstacles.end(), [&](const TargetObstacle target_obstacle) {
return target_obstacle.uuid == prev_closest_obstacle_ptr_->uuid;
});
// Previous closest obstacle is both in the perception lists and target obstacles
if (target_obstacle_itr != target_obstacles.end()) {
if (current_closest_obstacle) {
if ((current_closest_obstacle->uuid == prev_closest_obstacle_ptr_->uuid)) {
// prev_closest_obstacle is current_closest_obstacle just return the target obstacles(in
// target obstacles)
prev_closest_obstacle_ptr_ = std::make_shared<TargetObstacle>(*current_closest_obstacle);
} else {
// New obstacle becomes new stop obstacle
prev_closest_obstacle_ptr_ = std::make_shared<TargetObstacle>(*current_closest_obstacle);
}
} else {
// Previous closest stop obstacle becomes cruise obstacle
prev_closest_obstacle_ptr_ = nullptr;
}
} else {
// prev obstacle is not in the target obstacles, but in the perception list
const double elapsed_time = (current_time - prev_closest_obstacle_ptr_->time_stamp).seconds();
if (
predicted_object_itr->kinematics.initial_twist_with_covariance.twist.linear.x <
obstacle_velocity_threshold_from_stop_to_cruise_ &&
elapsed_time < obstacle_filtering_param_.stop_obstacle_hold_time_threshold) {
target_obstacles.push_back(*prev_closest_obstacle_ptr_);
return;
}
if (current_closest_obstacle) {
prev_closest_obstacle_ptr_ = std::make_shared<TargetObstacle>(*current_closest_obstacle);
} else {
prev_closest_obstacle_ptr_ = nullptr;
}
}
}
geometry_msgs::msg::Point ObstacleCruisePlannerNode::calcNearestCollisionPoint(
const size_t & first_within_idx, const std::vector<geometry_msgs::msg::Point> & collision_points,
const Trajectory & decimated_traj)
{
std::array<geometry_msgs::msg::Point, 2> segment_points;
if (first_within_idx == 0) {
const auto & traj_front_pose = decimated_traj.points.at(0).pose;
segment_points.at(0) = traj_front_pose.position;
const auto front_pos = tier4_autoware_utils::calcOffsetPose(
traj_front_pose, vehicle_info_.max_longitudinal_offset_m, 0.0, 0.0)
.position;
segment_points.at(1) = front_pos;
} else {
const size_t seg_idx = first_within_idx - 1;
segment_points.at(0) = decimated_traj.points.at(seg_idx).pose.position;
segment_points.at(1) = decimated_traj.points.at(seg_idx + 1).pose.position;
}
size_t min_idx = 0;
double min_dist = std::numeric_limits<double>::max();
for (size_t cp_idx = 0; cp_idx < collision_points.size(); ++cp_idx) {
const auto & collision_point = collision_points.at(cp_idx);
const double dist =
tier4_autoware_utils::calcLongitudinalOffsetToSegment(segment_points, 0, collision_point);
if (dist < min_dist) {
min_dist = dist;
min_idx = cp_idx;
}
}
return collision_points.at(min_idx);
}
double ObstacleCruisePlannerNode::calcCollisionTimeMargin(
const geometry_msgs::msg::Pose & current_pose, const double current_vel,
const geometry_msgs::msg::Point & nearest_collision_point,
const PredictedObject & predicted_object, const size_t first_within_idx,
const Trajectory & decimated_traj,
const std::vector<tier4_autoware_utils::Polygon2d> & decimated_traj_polygons)
{
const auto & object_pose = predicted_object.kinematics.initial_pose_with_covariance.pose;
const auto & object_velocity =
predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x;
const auto predicted_path_with_highest_confidence =
getHighestConfidencePredictedPath(predicted_object);
const double time_to_collision = [&]() {
const double dist_from_ego_to_obstacle =
tier4_autoware_utils::calcSignedArcLength(
decimated_traj.points, current_pose.position, nearest_collision_point) -
vehicle_info_.max_longitudinal_offset_m;
return dist_from_ego_to_obstacle / std::max(1e-6, current_vel);
}();
const double time_to_obstacle_getting_out = [&]() {
const auto obstacle_getting_out_idx = polygon_utils::getFirstNonCollisionIndex(
decimated_traj_polygons, predicted_path_with_highest_confidence, predicted_object.shape,
first_within_idx);
if (!obstacle_getting_out_idx) {
return std::numeric_limits<double>::max();
}
const double dist_to_obstacle_getting_out = tier4_autoware_utils::calcSignedArcLength(
decimated_traj.points, object_pose.position, obstacle_getting_out_idx.get());
return dist_to_obstacle_getting_out / object_velocity;
}();
return time_to_collision - time_to_obstacle_getting_out;
}
void ObstacleCruisePlannerNode::publishVelocityLimit(
const boost::optional<VelocityLimit> & vel_limit)
{
if (vel_limit) {
vel_limit_pub_->publish(vel_limit.get());
need_to_clear_vel_limit_ = true;
} else {
if (need_to_clear_vel_limit_) {
const auto clear_vel_limit_msg = createVelocityLimitClearCommandMsg(now());
clear_vel_limit_pub_->publish(clear_vel_limit_msg);
need_to_clear_vel_limit_ = false;
}
}
}
void ObstacleCruisePlannerNode::publishDebugData(const DebugData & debug_data) const
{
stop_watch_.tic(__func__);
visualization_msgs::msg::MarkerArray debug_marker;
const auto current_time = now();
// obstacles to cruise
for (size_t i = 0; i < debug_data.obstacles_to_cruise.size(); ++i) {
const auto marker = obstacle_cruise_utils::getObjectMarker(
debug_data.obstacles_to_cruise.at(i).pose, i, "obstacles_to_cruise", 0.7, 0.7, 0.0);
debug_marker.markers.push_back(marker);
}
// obstacles to stop
for (size_t i = 0; i < debug_data.obstacles_to_stop.size(); ++i) {
const auto marker = obstacle_cruise_utils::getObjectMarker(
debug_data.obstacles_to_stop.at(i).pose, i, "obstacles_to_stop", 1.0, 0.0, 0.0);
debug_marker.markers.push_back(marker);
}