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fix(behavior_path_planner): fix geometric pull out lane id for overlapping (#2828) #274

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Mar 3, 2023
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fix(behavior_path_planner): fix geometric pull out lane id for overlapping (#2828) #274

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fix(behavior_path_planner): fix geometric pull out lane id for overla… 
…pping (autowarefoundation#2828)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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@kosuke55
kosuke55 committed Feb 8, 2023
commit 6b6d0325c77a113ce3cacbe41b7b3e762eb68bbd
11 changes: 10 additions & 1 deletion planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -361,7 +361,16 @@ std::vector<PathWithLaneId> GeometricParallelParking::planOneTrial(
}

// combine road and shoulder lanes
lanelet::ConstLanelets lanes = road_lanes;
// cut the road lanes up to start_pose to prevent unintended processing for overlapped lane
lanelet::ConstLanelets lanes{};
tier4_autoware_utils::Point2d start_point2d(start_pose.position.x, start_pose.position.y);
for (const auto & lane : road_lanes) {
if (boost::geometry::within(start_point2d, lane.polygon2d().basicPolygon())) {
lanes.push_back(lane);
break;
}
lanes.push_back(lane);
}
lanes.insert(lanes.end(), shoulder_lanes.begin(), shoulder_lanes.end());

// If start_pose is parallel to goal_pose, we can know lateral deviation of edges of vehicle,
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