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feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity #1571

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merged 1 commit into from
Oct 3, 2024
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feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity #1571

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25 changes: 21 additions & 4 deletions planning/behavior_path_planner_common/src/turn_signal_decider.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,13 @@ std::optional<TurnSignalInfo> TurnSignalDecider::getIntersectionTurnSignalInfo(
const size_t current_seg_idx, const RouteHandler & route_handler,
const double nearest_dist_threshold, const double nearest_yaw_threshold)
{
const auto requires_turn_signal = [&current_vel](
const auto & turn_direction, const bool is_in_turn_lane) {
constexpr double stop_velocity_threshold = 0.1;
return (
turn_direction == "right" || turn_direction == "left" ||
(turn_direction == "straight" && current_vel < stop_velocity_threshold && !is_in_turn_lane));
};
// base search distance
const double base_search_distance =
intersection_search_time_ * current_vel + intersection_search_distance_;
Expand All @@ -152,6 +159,19 @@ std::optional<TurnSignalInfo> TurnSignalDecider::getIntersectionTurnSignalInfo(
}
}

bool is_in_turn_lane = false;
for (const auto & lane_id : unique_lane_ids) {
const auto lanelet = route_handler.getLaneletsFromId(lane_id);
const std::string turn_direction = lanelet.attributeOr("turn_direction", "none");
if (turn_direction == "left" || turn_direction == "right") {
const auto & position = current_pose.position;
const lanelet::BasicPoint2d point(position.x, position.y);
if (lanelet::geometry::inside(lanelet, point)) {
is_in_turn_lane = true;
break;
}
}
}
// combine consecutive lanes of the same turn direction
// stores lanes that have already been combine
std::set<int> processed_lanes;
Expand Down Expand Up @@ -258,11 +278,8 @@ std::optional<TurnSignalInfo> TurnSignalDecider::getIntersectionTurnSignalInfo(
continue;
}

constexpr double stop_velocity_threshold = 0.1;
if (dist_to_front_point < search_distance) {
if (
lane_attribute == "right" || lane_attribute == "left" ||
(lane_attribute == "straight" && current_vel < stop_velocity_threshold)) {
if (requires_turn_signal(lane_attribute, is_in_turn_lane)) {
// update map if necessary
if (desired_start_point_map_.find(lane_id) == desired_start_point_map_.end()) {
desired_start_point_map_.emplace(lane_id, current_pose);
Expand Down
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