fix(avoidance): the module ignored merging objects unexpectedly (#6601)

* feat(avoidance): output overhang lanelet

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): avoid merging vehicle if it's NOT on ego lane.

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(avoidance): add flag to identify ambiguous vehicle

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): add helper function

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): rename param

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* chore(avoidance): update comment

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp

@@ -132,7 +132,7 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
   }
 
   {
-    const std::string ns = "avoidance.target_filtering.force_avoidance.";
+    const std::string ns = "avoidance.target_filtering.avoidance_for_ambiguous_vehicle.";
     p.enable_force_avoidance_for_stopped_vehicle =
       getOrDeclareParameter<bool>(*node, ns + "enable");
     p.threshold_time_force_avoidance_for_stopped_vehicle =

planning/behavior_path_avoidance_module/config/avoidance.param.yaml

@@ -153,7 +153,7 @@
           backward_distance: 10.0                        # [m]
 
         # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
-        force_avoidance:
+        avoidance_for_ambiguous_vehicle:
           enable: false                                  # [-]
           time_threshold: 1.0                            # [s]
           distance_threshold: 1.0                        # [m]

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp

@@ -384,7 +384,8 @@ struct ObjectData  // avoidance target
   rclcpp::Time last_move;
   double stop_time{0.0};
 
-  // store the information of the lanelet which the object's overhang is currently occupying
+  // It is one of the ego driving lanelets (closest lanelet to the object) and used in the logic to
+  // check whether the object is on the ego lane.
   lanelet::ConstLanelet overhang_lanelet;
 
   // the position at the detected moment
@@ -420,6 +421,12 @@ struct ObjectData  // avoidance target
   // is parked vehicle on road shoulder
   bool is_parked{false};
 
+  // is driving on ego current lane
+  bool is_on_ego_lane{false};
+
+  // is ambiguous stopped vehicle.
+  bool is_ambiguous{false};
+
   // object direction.
   Direction direction{Direction::NONE};
 

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp

@@ -17,6 +17,7 @@
 
 #include "behavior_path_avoidance_module/data_structs.hpp"
 #include "behavior_path_avoidance_module/utils.hpp"
+#include "behavior_path_planner_common/utils/utils.hpp"
 
 #include <motion_utils/distance/distance.hpp>
 
@@ -134,6 +135,24 @@ class AvoidanceHelper
       shift_length, getLateralMaxJerkLimit(), getAvoidanceEgoSpeed());
   }
 
+  double getFrontConstantDistance(const ObjectData & object) const
+  {
+    const auto object_type = utils::getHighestProbLabel(object.object.classification);
+    const auto object_parameter = parameters_->object_parameters.at(object_type);
+    const auto & additional_buffer_longitudinal =
+      object_parameter.use_conservative_buffer_longitudinal ? data_->parameters.base_link2front
+                                                            : 0.0;
+    return object_parameter.safety_buffer_longitudinal + additional_buffer_longitudinal;
+  }
+
+  double getRearConstantDistance(const ObjectData & object) const
+  {
+    const auto object_type = utils::getHighestProbLabel(object.object.classification);
+    const auto object_parameter = parameters_->object_parameters.at(object_type);
+    return object_parameter.safety_buffer_longitudinal + data_->parameters.base_link2rear +
+           object.length;
+  }
+
   double getEgoShift() const
   {
     validate();

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp

@@ -140,7 +140,7 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
   }
 
   {
-    const std::string ns = "avoidance.target_filtering.force_avoidance.";
+    const std::string ns = "avoidance.target_filtering.avoidance_for_ambiguous_vehicle.";
     p.enable_force_avoidance_for_stopped_vehicle =
       getOrDeclareParameter<bool>(*node, ns + "enable");
     p.threshold_time_force_avoidance_for_stopped_vehicle =

planning/behavior_path_avoidance_module/src/debug.cpp

@@ -188,10 +188,25 @@ MarkerArray createObjectInfoMarkerArray(const ObjectDataArray & objects, std::st
   return msg;
 }
 
+MarkerArray createOverhangLaneletMarkerArray(const ObjectDataArray & objects, std::string && ns)
+{
+  MarkerArray msg;
+  msg.markers.reserve(objects.size());
+
+  for (const auto & object : objects) {
+    appendMarkerArray(
+      marker_utils::createLaneletsAreaMarkerArray(
+        {object.overhang_lanelet}, std::string(ns), 0.0, 0.0, 1.0),
+      &msg);
+  }
+
+  return msg;
+}
+
 MarkerArray avoidableObjectsMarkerArray(const ObjectDataArray & objects, std::string && ns)
 {
   MarkerArray msg;
-  msg.markers.reserve(objects.size() * 4);
+  msg.markers.reserve(objects.size() * 5);
 
   appendMarkerArray(
     createObjectsCubeMarkerArray(
@@ -202,14 +217,15 @@ MarkerArray avoidableObjectsMarkerArray(const ObjectDataArray & objects, std::st
   appendMarkerArray(createObjectInfoMarkerArray(objects, ns + "_info"), &msg);
   appendMarkerArray(createObjectPolygonMarkerArray(objects, ns + "_envelope_polygon"), &msg);
   appendMarkerArray(createToDrivableBoundDistance(objects, ns + "_to_drivable_bound"), &msg);
+  appendMarkerArray(createOverhangLaneletMarkerArray(objects, ns + "_overhang_lanelet"), &msg);
 
   return msg;
 }
 
 MarkerArray unAvoidableObjectsMarkerArray(const ObjectDataArray & objects, std::string && ns)
 {
   MarkerArray msg;
-  msg.markers.reserve(objects.size() * 4);
+  msg.markers.reserve(objects.size() * 5);
 
   appendMarkerArray(
     createObjectsCubeMarkerArray(
@@ -220,6 +236,7 @@ MarkerArray unAvoidableObjectsMarkerArray(const ObjectDataArray & objects, std::
   appendMarkerArray(createObjectInfoMarkerArray(objects, ns + "_info"), &msg);
   appendMarkerArray(createObjectPolygonMarkerArray(objects, ns + "_envelope_polygon"), &msg);
   appendMarkerArray(createToDrivableBoundDistance(objects, ns + "_to_drivable_bound"), &msg);
+  appendMarkerArray(createOverhangLaneletMarkerArray(objects, ns + "_overhang_lanelet"), &msg);
 
   return msg;
 }
@@ -451,6 +468,10 @@ MarkerArray createOtherObjectsMarkerArray(const ObjectDataArray & objects, const
   appendMarkerArray(
     createObjectInfoMarkerArray(filtered_objects, "others_" + convertToSnakeCase(ns) + "_info"),
     &msg);
+  appendMarkerArray(
+    createOverhangLaneletMarkerArray(
+      filtered_objects, "others_" + convertToSnakeCase(ns) + "_overhang_lanelet"),
+    &msg);
 
   return msg;
 }

planning/behavior_path_avoidance_module/src/scene.cpp

@@ -638,21 +638,16 @@ void AvoidanceModule::fillDebugData(
   const auto o_front = data.stop_target_object.value();
   const auto object_type = utils::getHighestProbLabel(o_front.object.classification);
   const auto object_parameter = parameters_->object_parameters.at(object_type);
-  const auto & additional_buffer_longitudinal =
-    object_parameter.use_conservative_buffer_longitudinal
-      ? planner_data_->parameters.base_link2front
-      : 0.0;
+  const auto constant_distance = helper_->getFrontConstantDistance(o_front);
   const auto & vehicle_width = planner_data_->parameters.vehicle_width;
 
   const auto max_avoid_margin = object_parameter.lateral_hard_margin * o_front.distance_factor +
                                 object_parameter.lateral_soft_margin + 0.5 * vehicle_width;
 
-  const auto variable = helper_->getSharpAvoidanceDistance(
+  const auto avoidance_distance = helper_->getSharpAvoidanceDistance(
     helper_->getShiftLength(o_front, utils::avoidance::isOnRight(o_front), max_avoid_margin));
-  const auto constant = helper_->getNominalPrepareDistance() +
-                        object_parameter.safety_buffer_longitudinal +
-                        additional_buffer_longitudinal;
-  const auto total_avoid_distance = variable + constant;
+  const auto prepare_distance = helper_->getNominalPrepareDistance();
+  const auto total_avoid_distance = prepare_distance + avoidance_distance + constant_distance;
 
   dead_pose_ = calcLongitudinalOffsetPose(
     data.reference_path.points, getEgoPosition(), o_front.longitudinal - total_avoid_distance);
@@ -1434,16 +1429,14 @@ double AvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const
 
   const auto avoid_margin = object_parameter.lateral_hard_margin * object.distance_factor +
                             object_parameter.lateral_soft_margin + 0.5 * vehicle_width;
-  const auto variable = helper_->getMinAvoidanceDistance(
+  const auto avoidance_distance = helper_->getMinAvoidanceDistance(
     helper_->getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin));
-  const auto & additional_buffer_longitudinal =
-    object_parameter.use_conservative_buffer_longitudinal
-      ? planner_data_->parameters.base_link2front
-      : 0.0;
-  const auto constant = p->min_prepare_distance + object_parameter.safety_buffer_longitudinal +
-                        additional_buffer_longitudinal + p->stop_buffer;
-
-  return object.longitudinal - std::min(variable + constant, p->stop_max_distance);
+  const auto constant_distance = helper_->getFrontConstantDistance(object);
+
+  return object.longitudinal -
+         std::min(
+           avoidance_distance + constant_distance + p->min_prepare_distance + p->stop_buffer,
+           p->stop_max_distance);
 }
 
 void AvoidanceModule::insertReturnDeadLine(

planning/behavior_path_avoidance_module/src/shift_line_generator.cpp

@@ -123,7 +123,6 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
 {
   // To be consistent with changes in the ego position, the current shift length is considered.
   const auto current_ego_shift = helper_->getEgoShift();
-  const auto & base_link2rear = data_->parameters.base_link2rear;
 
   // Calculate feasible shift length
   const auto get_shift_profile =
@@ -140,13 +139,10 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
 
     // calculate remaining distance.
     const auto prepare_distance = helper_->getNominalPrepareDistance();
-    const auto & additional_buffer_longitudinal =
-      object_parameter.use_conservative_buffer_longitudinal ? data_->parameters.base_link2front
-                                                            : 0.0;
-    const auto constant = object_parameter.safety_buffer_longitudinal +
-                          additional_buffer_longitudinal + prepare_distance;
-    const auto has_enough_distance = object.longitudinal > constant + nominal_avoid_distance;
-    const auto remaining_distance = object.longitudinal - constant;
+    const auto constant_distance = helper_->getFrontConstantDistance(object);
+    const auto has_enough_distance =
+      object.longitudinal > constant_distance + prepare_distance + nominal_avoid_distance;
+    const auto remaining_distance = object.longitudinal - constant_distance - prepare_distance;
     const auto avoidance_distance =
       has_enough_distance ? nominal_avoid_distance : remaining_distance;
 
@@ -278,11 +274,8 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
       }
     }
 
-    // use each object param
-    const auto object_type = utils::getHighestProbLabel(o.object.classification);
-    const auto object_parameter = parameters_->object_parameters.at(object_type);
+    // calculate feasible shift length based on behavior policy
     const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length);
-
     if (!feasible_shift_profile.has_value()) {
       if (o.avoid_required && is_forward_object(o)) {
         break;
@@ -297,12 +290,8 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
 
     AvoidLine al_avoid;
     {
-      const auto & additional_buffer_longitudinal =
-        object_parameter.use_conservative_buffer_longitudinal ? data_->parameters.base_link2front
-                                                              : 0.0;
-      const auto offset =
-        object_parameter.safety_buffer_longitudinal + additional_buffer_longitudinal;
-      const auto to_shift_end = o.longitudinal - offset;
+      const auto constant_distance = helper_->getFrontConstantDistance(o);
+      const auto to_shift_end = o.longitudinal - constant_distance;
       const auto path_front_to_ego = data.arclength_from_ego.at(data.ego_closest_path_index);
 
       // start point (use previous linear shift length as start shift length.)
@@ -338,8 +327,8 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
 
     AvoidLine al_return;
     {
-      const auto offset = object_parameter.safety_buffer_longitudinal + base_link2rear + o.length;
-      const auto to_shift_start = o.longitudinal + offset;
+      const auto constant_distance = helper_->getRearConstantDistance(o);
+      const auto to_shift_start = o.longitudinal + constant_distance;
 
       // start point
       al_return.start_shift_length = feasible_shift_profile.value().first;

planning/behavior_path_avoidance_module/src/utils.cpp

@@ -478,6 +478,14 @@ bool isWithinIntersection(
     object_polygon, utils::toPolygon2d(lanelet::utils::to2D(polygon.basicPolygon())));
 }
 
+bool isOnEgoLane(const ObjectData & object)
+{
+  const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position;
+  return boost::geometry::within(
+    lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(),
+    object.overhang_lanelet.polygon2d().basicPolygon());
+}
+
 bool isParallelToEgoLane(const ObjectData & object, const double threshold)
 {
   const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose;
@@ -525,6 +533,10 @@ bool isParkedVehicle(
   using lanelet::utils::to2D;
   using lanelet::utils::conversion::toLaneletPoint;
 
+  if (object.is_within_intersection) {
+    return false;
+  }
+
   const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position;
   const auto centerline_pos =
     lanelet::utils::getClosestCenterPose(object.overhang_lanelet, object_pos).position;
@@ -613,15 +625,11 @@ bool isParkedVehicle(
   return is_left_side_parked_vehicle || is_right_side_parked_vehicle;
 }
 
-bool isForceAvoidanceTarget(
+bool isAmbiguousStoppedVehicle(
   ObjectData & object, const AvoidancePlanningData & data,
   const std::shared_ptr<const PlannerData> & planner_data,
   const std::shared_ptr<AvoidanceParameters> & parameters)
 {
-  if (!parameters->enable_force_avoidance_for_stopped_vehicle) {
-    return false;
-  }
-
   const auto stop_time_longer_than_threshold =
     object.stop_time > parameters->threshold_time_force_avoidance_for_stopped_vehicle;
 
@@ -652,6 +660,10 @@ bool isForceAvoidanceTarget(
     return false;
   }
 
+  if (!object.is_on_ego_lane) {
+    return true;
+  }
+
   const auto & ego_pose = planner_data->self_odometry->pose.pose;
 
   // force avoidance for stopped vehicle
@@ -778,24 +790,17 @@ bool isSatisfiedWithVehicleCondition(
   const std::shared_ptr<const PlannerData> & planner_data,
   const std::shared_ptr<AvoidanceParameters> & parameters)
 {
-  using boost::geometry::within;
-  using lanelet::utils::to2D;
-  using lanelet::utils::conversion::toLaneletPoint;
-
   object.behavior = getObjectBehavior(object, parameters);
-  object.is_within_intersection = isWithinIntersection(object, planner_data->route_handler);
+  object.is_on_ego_lane = isOnEgoLane(object);
+  object.is_ambiguous = isAmbiguousStoppedVehicle(object, data, planner_data, parameters);
 
   // from here condition check for vehicle type objects.
-  if (isForceAvoidanceTarget(object, data, planner_data, parameters)) {
+  if (object.is_ambiguous && parameters->enable_force_avoidance_for_stopped_vehicle) {
     return true;
   }
 
   // check vehicle shift ratio
-  const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position;
-  const auto on_ego_driving_lane = within(
-    to2D(toLaneletPoint(object_pos)).basicPoint(),
-    object.overhang_lanelet.polygon2d().basicPolygon());
-  if (on_ego_driving_lane) {
+  if (object.is_on_ego_lane) {
     if (object.is_parked) {
       return true;
     } else {
@@ -1755,6 +1760,8 @@ void filterTargetObjects(
     }
 
     if (filtering_utils::isVehicleTypeObject(o)) {
+      o.is_within_intersection =
+        filtering_utils::isWithinIntersection(o, planner_data->route_handler);
       o.is_parked = filtering_utils::isParkedVehicle(o, planner_data->route_handler, parameters);
       o.avoid_margin = filtering_utils::getAvoidMargin(o, planner_data, parameters);