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fix(lane_change): consider max velocity during path planning #1206

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merged 2 commits into from
Mar 25, 2024
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fix(lane_change): consider max velocity during path planning #1206

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a44f28c
fix(lane_change): consider max velocity during path planning (#6615) …
zulfaqar-azmi-t4 Mar 22, 2024
dd3adeb
fix the max_velocity not subscribed from motion velocity smoother
zulfaqar-azmi-t4 Mar 25, 2024
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fix(lane_change): consider max velocity during path planning (autowar… 
…efoundation#6615) (#1203)

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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@zulfaqar-azmi-t4
zulfaqar-azmi-t4 committed Mar 25, 2024
commit a44f28c50c5cafaab0b07b73955cdbb2109094d8
9 changes: 5 additions & 4 deletions planning/behavior_path_lane_change_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1253,9 +1253,9 @@ bool NormalLaneChange::getLaneChangePaths(
};

// get path on original lanes
const auto prepare_velocity = std::max(
const auto prepare_velocity = std::clamp(
current_velocity + sampled_longitudinal_acc * prepare_duration,
minimum_lane_changing_velocity);
minimum_lane_changing_velocity, getCommonParam().max_vel);

// compute actual longitudinal acceleration
const double longitudinal_acc_on_prepare =
Expand Down Expand Up @@ -1319,8 +1319,9 @@ bool NormalLaneChange::getLaneChangePaths(
const auto lane_changing_length =
initial_lane_changing_velocity * lane_changing_time +
0.5 * longitudinal_acc_on_lane_changing * lane_changing_time * lane_changing_time;
const auto terminal_lane_changing_velocity =
initial_lane_changing_velocity + longitudinal_acc_on_lane_changing * lane_changing_time;
const auto terminal_lane_changing_velocity = std::min(
initial_lane_changing_velocity + longitudinal_acc_on_lane_changing * lane_changing_time,
getCommonParam().max_vel);
utils::lane_change::setPrepareVelocity(
prepare_segment, current_velocity, terminal_lane_changing_velocity);

Expand Down
1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -238,6 +238,7 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
p.min_acc = declare_parameter<double>("normal.min_acc");
p.max_acc = declare_parameter<double>("normal.max_acc");

p.max_vel = declare_parameter<double>("max_vel");
p.backward_length_buffer_for_end_of_pull_over =
declare_parameter<double>("backward_length_buffer_for_end_of_pull_over");
p.backward_length_buffer_for_end_of_pull_out =
Expand Down
1 change: 1 addition & 0 deletions planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp
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Expand Up @@ -42,6 +42,7 @@ struct BehaviorPathPlannerParameters
// common parameters
double min_acc;
double max_acc;
double max_vel;

double minimum_pull_over_length;
double minimum_pull_out_length;
Expand Down