feat(goal_planner): do not use isActivated() in deciding state transition (#10056)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/decision_state.hpp

@@ -49,15 +49,13 @@ class PathDecisionStateController
    * @brief update current state and save old current state to prev state
    */
   void transit_state(
-    const bool found_pull_over_path, const rclcpp::Time & now,
+    const std::optional<PullOverPath> & pull_over_path_opt, const rclcpp::Time & now,
     const autoware_perception_msgs::msg::PredictedObjects & static_target_objects,
     const autoware_perception_msgs::msg::PredictedObjects & dynamic_target_objects,
-    const std::optional<GoalCandidate> modified_goal_opt,
     const std::shared_ptr<const PlannerData> planner_data,
     const std::shared_ptr<OccupancyGridBasedCollisionDetector> occupancy_grid_map,
     const bool is_current_safe, const GoalPlannerParameters & parameters,
-    const GoalSearcher & goal_searcher, const bool is_activated,
-    const std::optional<PullOverPath> & pull_over_path,
+    const GoalSearcher & goal_searcher,
     std::vector<autoware::universe_utils::Polygon2d> & ego_polygons_expanded);
 
   PathDecisionState get_current_state() const { return current_state_; }
@@ -71,14 +69,12 @@ class PathDecisionStateController
    * @brief update current state and save old current state to prev state
    */
   PathDecisionState get_next_state(
-    const bool found_pull_over_path, const rclcpp::Time & now,
+    const std::optional<PullOverPath> & pull_over_path_opt, const rclcpp::Time & now,
     const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects,
-    const std::optional<GoalCandidate> modified_goal_opt,
     const std::shared_ptr<const PlannerData> planner_data,
     const std::shared_ptr<OccupancyGridBasedCollisionDetector> occupancy_grid_map,
     const bool is_current_safe, const GoalPlannerParameters & parameters,
-    const GoalSearcher & goal_searcher, const bool is_activated,
-    const std::optional<PullOverPath> & pull_over_path_opt,
+    const GoalSearcher & goal_searcher,
     std::vector<autoware::universe_utils::Polygon2d> & ego_polygons_expanded) const;
 };
 

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp

@@ -26,32 +26,27 @@ namespace autoware::behavior_path_planner
 using autoware::motion_utils::calcSignedArcLength;
 
 void PathDecisionStateController::transit_state(
-  const bool found_pull_over_path, const rclcpp::Time & now,
+  const std::optional<PullOverPath> & pull_over_path_opt, const rclcpp::Time & now,
   const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects,
-  const std::optional<GoalCandidate> modified_goal_opt,
   const std::shared_ptr<const PlannerData> planner_data,
   const std::shared_ptr<OccupancyGridBasedCollisionDetector> occupancy_grid_map,
   const bool is_current_safe, const GoalPlannerParameters & parameters,
-  const GoalSearcher & goal_searcher, const bool is_activated,
-  const std::optional<PullOverPath> & pull_over_path,
+  const GoalSearcher & goal_searcher,
   std::vector<autoware::universe_utils::Polygon2d> & ego_polygons_expanded)
 {
   const auto next_state = get_next_state(
-    found_pull_over_path, now, static_target_objects, dynamic_target_objects, modified_goal_opt,
-    planner_data, occupancy_grid_map, is_current_safe, parameters, goal_searcher, is_activated,
-    pull_over_path, ego_polygons_expanded);
+    pull_over_path_opt, now, static_target_objects, dynamic_target_objects, planner_data,
+    occupancy_grid_map, is_current_safe, parameters, goal_searcher, ego_polygons_expanded);
   current_state_ = next_state;
 }
 
 PathDecisionState PathDecisionStateController::get_next_state(
-  const bool found_pull_over_path, const rclcpp::Time & now,
+  const std::optional<PullOverPath> & pull_over_path_opt, const rclcpp::Time & now,
   const PredictedObjects & static_target_objects, const PredictedObjects & dynamic_target_objects,
-  const std::optional<GoalCandidate> modified_goal_opt,
   const std::shared_ptr<const PlannerData> planner_data,
   const std::shared_ptr<OccupancyGridBasedCollisionDetector> occupancy_grid_map,
   const bool is_current_safe, const GoalPlannerParameters & parameters,
-  const GoalSearcher & goal_searcher, const bool is_activated,
-  const std::optional<PullOverPath> & pull_over_path_opt,
+  const GoalSearcher & goal_searcher,
   std::vector<autoware::universe_utils::Polygon2d> & ego_polygons_expanded) const
 {
   auto next_state = current_state_;
@@ -77,15 +72,15 @@ PathDecisionState PathDecisionStateController::get_next_state(
   }
 
   // if path is not safe, not decided
-  if (!found_pull_over_path || !pull_over_path_opt) {
+  if (!pull_over_path_opt) {
     next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED;
     return next_state;
   }
 
   const auto & pull_over_path = pull_over_path_opt.value();
   // If it is dangerous against dynamic objects before approval, do not determine the path.
   // This eliminates a unsafe path to be approved
-  if (!next_state.is_stable_safe && !is_activated) {
+  if (!next_state.is_stable_safe) {
     RCLCPP_DEBUG(
       logger_,
       "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before "
@@ -98,11 +93,11 @@ PathDecisionState PathDecisionStateController::get_next_state(
   if (current_state_.state == PathDecisionState::DecisionKind::DECIDING) {
     const double hysteresis_factor = 0.9;
 
+    const auto & modified_goal = pull_over_path.modified_goal();
     // check goal pose collision
-    if (
-      modified_goal_opt && !goal_searcher.isSafeGoalWithMarginScaleFactor(
-                             modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map,
-                             planner_data, static_target_objects)) {
+    if (!goal_searcher.isSafeGoalWithMarginScaleFactor(
+          modified_goal, hysteresis_factor, occupancy_grid_map, planner_data,
+          static_target_objects)) {
       RCLCPP_DEBUG(logger_, "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe");
       next_state.state = PathDecisionState::DecisionKind::NOT_DECIDED;
       next_state.deciding_start_time = std::nullopt;

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

@@ -761,13 +761,6 @@ void GoalPlannerModule::updateData()
       ? std::make_optional<PullOverPath>(context_data_.value().pull_over_path_opt.value())
       : std::nullopt;
 
-  const auto modified_goal_pose = [&]() -> std::optional<GoalCandidate> {
-    if (!pull_over_path_recv) {
-      return std::nullopt;
-    }
-    return pull_over_path_recv.value().modified_goal();
-  }();
-
   // save "old" state
   const auto prev_decision_state = path_decision_controller_.get_current_state();
   const auto [is_current_safe, collision_check_map] =
@@ -782,9 +775,9 @@ void GoalPlannerModule::updateData()
     dynamic_target_objects, parameters_.th_moving_object_velocity);
 
   path_decision_controller_.transit_state(
-    found_pull_over_path, clock_->now(), static_target_objects, dynamic_target_objects,
-    modified_goal_pose, planner_data_, occupancy_grid_map_, is_current_safe, parameters_,
-    goal_searcher, isActivated(), pull_over_path_recv, debug_data_.ego_polygons_expanded);
+    pull_over_path_recv, clock_->now(), static_target_objects, dynamic_target_objects,
+    planner_data_, occupancy_grid_map_, is_current_safe, parameters_, goal_searcher,
+    debug_data_.ego_polygons_expanded);
 
   auto [lane_parking_response, freespace_parking_response] = syncWithThreads();
   if (context_data_) {