fix(static_obstacle_avoidance): turn signal chattering

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Feb 28, 2025 · 57e9251 · 57e9251
1 parent ece3809
commit 57e9251
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
@@ -29,6 +29,7 @@
 
 #include <limits>
 #include <memory>
+#include <set>
 #include <string>
 #include <unordered_map>
 #include <utility>
@@ -459,7 +460,7 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
 
   bool safe_{true};
 
-  std::optional<UUID> ignore_signal_{std::nullopt};
+  std::set<std::string> ignore_signal_ids_;
 
   std::shared_ptr<AvoidanceHelper> helper_;
 

diff --git a/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -962,15 +962,13 @@ auto StaticObstacleAvoidanceModule::getTurnSignal(
   using autoware::motion_utils::calcSignedArcLength;
 
   const auto is_ignore_signal = [this](const UUID & uuid) {
-    if (!ignore_signal_.has_value()) {
-      return false;
-    }
-
-    return ignore_signal_.value() == uuid;
+    return ignore_signal_ids_.find(toHexString(uuid)) != ignore_signal_ids_.end();
   };
 
   const auto update_ignore_signal = [this](const UUID & uuid, const bool is_ignore) {
-    ignore_signal_ = is_ignore ? std::make_optional(uuid) : std::nullopt;
+    if (is_ignore) {
+      ignore_signal_ids_.insert(toHexString(uuid));
+    }
   };
 
   const auto is_large_deviation = [this](const auto & path) {
@@ -1509,6 +1507,7 @@ void StaticObstacleAvoidanceModule::initVariables()
   resetPathCandidate();
   resetPathReference();
   arrived_path_end_ = false;
+  ignore_signal_ids_.clear();
 }
 
 void StaticObstacleAvoidanceModule::initRTCStatus()