feat(goal_planner): use neighboring lane of pull over lane to check g…

…oal footprint

Signed-off-by: kosuke55 <[email protected]>

move to utils and add tests

Signed-off-by: kosuke55 <[email protected]>

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

@@ -163,6 +163,22 @@ std::string makePathPriorityDebugMessage(
   const std::map<size_t, double> & path_id_to_rough_margin_map,
   const std::function<bool(const PullOverPath &)> & isSoftMargin,
   const std::function<bool(const PullOverPath &)> & isHighCurvature);
+/**
+ * @brief combine two points
+ * @param points lane points
+ * @param points_next next lane points
+ * @return combined points
+ */
+lanelet::Points3d combineLanePoints(
+  const lanelet::Points3d & points, const lanelet::Points3d & points_next);
+/** @brief Create a lanelet that represents the departure check area.
+ * @param [in] pull_over_lanes Lanelets that the vehicle will pull over to.
+ * @param [in] route_handler RouteHandler object.
+ * @return Lanelet that goal footprints should be inside.
+ */
+lanelet::Lanelet createDepartureCheckLanelet(
+  const lanelet::ConstLanelets & pull_over_lanes, const route_handler::RouteHandler & route_handler,
+  const bool left_side_parking);
 }  // namespace autoware::behavior_path_planner::goal_planner_utils
 
 #endif  // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp

@@ -119,11 +119,8 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr<const PlannerData> & p
   const auto pull_over_lanes = goal_planner_utils::getPullOverLanes(
     *route_handler, left_side_parking_, parameters_.backward_goal_search_length,
     parameters_.forward_goal_search_length);
-  auto lanes = utils::getExtendedCurrentLanes(
-    planner_data, backward_length, forward_length,
-    /*forward_only_in_route*/ false);
-  lanes.insert(lanes.end(), pull_over_lanes.begin(), pull_over_lanes.end());
-
+  const auto departure_check_lane = goal_planner_utils::createDepartureCheckLanelet(
+    pull_over_lanes, *route_handler, left_side_parking_);
   const auto goal_arc_coords =
     lanelet::utils::getArcCoordinates(pull_over_lanes, reference_goal_pose_);
   const double s_start = std::max(0.0, goal_arc_coords.length - backward_length);
@@ -194,7 +191,8 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr<const PlannerData> & p
         break;
       }
 
-      if (LaneDepartureChecker::isOutOfLane(lanes, transformed_vehicle_footprint)) {
+      if (!boost::geometry::within(
+            transformed_vehicle_footprint, departure_check_lane.polygon2d().basicPolygon())) {
         continue;
       }
 

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp

@@ -638,4 +638,59 @@ std::string makePathPriorityDebugMessage(
   return ss.str();
 }
 
+lanelet::Points3d combineLanePoints(
+  const lanelet::Points3d & points, const lanelet::Points3d & points_next)
+{
+  lanelet::Points3d combined_points;
+  std::unordered_set<lanelet::Id> point_ids;
+  for (const auto & point : points) {
+    if (point_ids.insert(point.id()).second) {
+      combined_points.push_back(point);
+    }
+  }
+  for (const auto & point : points_next) {
+    if (point_ids.insert(point.id()).second) {
+      combined_points.push_back(point);
+    }
+  }
+  return combined_points;
+}
+
+lanelet::Lanelet createDepartureCheckLanelet(
+  const lanelet::ConstLanelets & pull_over_lanes, const route_handler::RouteHandler & route_handler,
+  const bool left_side_parking)
+{
+  const auto getBoundPoints =
+    [&](const lanelet::ConstLanelet & lane, const bool is_outer) -> lanelet::Points3d {
+    lanelet::Points3d points;
+    const auto & bound = left_side_parking ? (is_outer ? lane.leftBound() : lane.rightBound())
+                                           : (is_outer ? lane.rightBound() : lane.leftBound());
+    for (const auto & pt : bound) {
+      points.push_back(lanelet::Point3d(pt));
+    }
+    return points;
+  };
+
+  const auto getMostInnerLane = [&](const lanelet::ConstLanelet & lane) -> lanelet::ConstLanelet {
+    return left_side_parking ? route_handler.getMostRightLanelet(lane, false, true)
+                             : route_handler.getMostLeftLanelet(lane, false, true);
+  };
+
+  lanelet::Points3d outer_bound_points{};
+  lanelet::Points3d inner_bound_points{};
+  for (const auto & lane : pull_over_lanes) {
+    const auto current_outer_bound_points = getBoundPoints(lane, true);
+    const auto most_inner_lane = getMostInnerLane(lane);
+    const auto current_inner_bound_points = getBoundPoints(most_inner_lane, false);
+    outer_bound_points = combineLanePoints(outer_bound_points, current_outer_bound_points);
+    inner_bound_points = combineLanePoints(inner_bound_points, current_inner_bound_points);
+  }
+
+  const auto outer_linestring = lanelet::LineString3d(lanelet::InvalId, outer_bound_points);
+  const auto inner_linestring = lanelet::LineString3d(lanelet::InvalId, inner_bound_points);
+  return lanelet::Lanelet(
+    lanelet::InvalId, left_side_parking ? outer_linestring : inner_linestring,
+    left_side_parking ? inner_linestring : outer_linestring);
+}
+
 }  // namespace autoware::behavior_path_planner::goal_planner_utils

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp

@@ -82,3 +82,86 @@ TEST_F(TestUtilWithMap, isWithinAreas)
       baselink_footprint, bus_stop_area_polygons),
     true);
 }
+
+TEST_F(TestUtilWithMap, combineLanePoints)
+{
+  // 1) combine points with no duplicate IDs
+  {
+    lanelet::Points3d points{
+      {lanelet::Point3d(1, 0, 0), lanelet::Point3d(2, 0, 0), lanelet::Point3d(3, 0, 0)}};
+    lanelet::Points3d points_next{
+      {lanelet::Point3d(4, 0, 0), lanelet::Point3d(5, 0, 0), lanelet::Point3d(6, 0, 0)}};
+
+    const auto combined_points =
+      autoware::behavior_path_planner::goal_planner_utils::combineLanePoints(points, points_next);
+    EXPECT_EQ(combined_points.size(), 6);
+  }
+
+  // 2) combine points with duplicate IDs
+  {
+    lanelet::Points3d points{
+      {lanelet::Point3d(1, 0, 0), lanelet::Point3d(2, 0, 0), lanelet::Point3d(3, 0, 0)}};
+    lanelet::Points3d points_next{
+      {lanelet::Point3d(3, 0, 0), lanelet::Point3d(4, 0, 0), lanelet::Point3d(5, 0, 0)}};
+
+    const auto combined_points =
+      autoware::behavior_path_planner::goal_planner_utils::combineLanePoints(points, points_next);
+    EXPECT_EQ(combined_points.size(), 5);
+  }
+}
+
+TEST_F(TestUtilWithMap, createDepartureCheckLanelet)
+{
+  const auto lanelet_map_ptr = route_handler->getLaneletMapPtr();
+
+  const geometry_msgs::msg::Pose goal_pose =
+    geometry_msgs::build<geometry_msgs::msg::Pose>()
+      .position(geometry_msgs::build<geometry_msgs::msg::Point>()
+                  .x(433.42254638671875)
+                  .y(465.3381652832031)
+                  .z(0.0))
+      .orientation(geometry_msgs::build<geometry_msgs::msg::Quaternion>()
+                     .x(0.0)
+                     .y(0.0)
+                     .z(0.306785474523741)
+                     .w(0.9517786888879384));
+
+  // 1) get target shoulder lane and check it's lane id
+  const auto target_shoulder_lane = route_handler->getPullOverTarget(goal_pose);
+  EXPECT_EQ(target_shoulder_lane.has_value(), true);
+  EXPECT_EQ(target_shoulder_lane.value().id(), 18391);
+
+  // 2) get shoulder lane sequence
+  const auto target_shoulder_lanes =
+    route_handler->getShoulderLaneletSequence(target_shoulder_lane.value(), goal_pose);
+  EXPECT_EQ(target_shoulder_lanes.size(), 3);
+
+  // 3) check if the right bound of the departure check lane extended to the right end matches the
+  // right bound of the rightmost lanelet
+  const auto to_points3d = [](const lanelet::ConstLineString3d & bound) {
+    lanelet::Points3d points;
+    for (const auto & pt : bound) {
+      points.push_back(lanelet::Point3d(pt));
+    }
+    return points;
+  };
+
+  const auto departure_check_lane =
+    autoware::behavior_path_planner::goal_planner_utils::createDepartureCheckLanelet(
+      target_shoulder_lanes, *route_handler, true);
+  const auto departure_check_lane_right_bound_points =
+    to_points3d(departure_check_lane.rightBound());
+
+  const std::vector<lanelet::Id> most_right_lanelet_ids = {18381, 18383, 18388};
+  lanelet::Points3d right_bound_points;
+  for (const auto & id : most_right_lanelet_ids) {
+    const auto lanelet = lanelet_map_ptr->laneletLayer.get(id);
+    right_bound_points = autoware::behavior_path_planner::goal_planner_utils::combineLanePoints(
+      right_bound_points, to_points3d(lanelet.rightBound()));
+  }
+
+  EXPECT_EQ(departure_check_lane_right_bound_points.size(), right_bound_points.size());
+  for (size_t i = 0; i < departure_check_lane_right_bound_points.size(); ++i) {
+    EXPECT_EQ(departure_check_lane_right_bound_points.at(i).id(), right_bound_points.at(i).id());
+  }
+}