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fix(behavior_path_planner): update root lanele if it is not in route lanelet #4360

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merged 3 commits into from
Jul 24, 2023
Merged

fix(behavior_path_planner): update root lanele if it is not in route lanelet #4360

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6a2c482
fix(behavior_path_planner): update root lanele if it is not in route …
kosuke55 Jul 21, 2023
c42c82a
Merge branch 'main' into fix/root_lanelet
kosuke55 Jul 22, 2023
841b6b4
Update planning/behavior_path_planner/src/planner_manager.cpp
kosuke55 Jul 24, 2023
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12 changes: 9 additions & 3 deletions planning/behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -636,15 +636,21 @@ void PlannerManager::resetRootLanelet(const std::shared_ptr<PlannerData> & data)

const auto root_lanelet = updateRootLanelet(data);

// if root_lanelet is not route lanelets, reset root lanelet.
// this can be caused by rerouting.
const auto & route_handler = data->route_handler;
if (!route_handler->isRouteLanelet(root_lanelet_.get())) {
root_lanelet_ = root_lanelet;
return;
}

// check ego is in same lane
if (root_lanelet_.get().id() == root_lanelet.id()) {
return;
}

const auto route_handler = data->route_handler;
const auto next_lanelets = route_handler->getRoutingGraphPtr()->following(root_lanelet_.get());

// check ego is in next lane
const auto next_lanelets = route_handler->getRoutingGraphPtr()->following(root_lanelet_.get());
for (const auto & next : next_lanelets) {
if (next.id() == root_lanelet.id()) {
return;
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1 change: 1 addition & 0 deletions planning/route_handler/include/route_handler/route_handler.hpp
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Expand Up @@ -325,6 +325,7 @@ class RouteHandler
const lanelet::ConstLanelet & prev_lane, const lanelet::ConstLanelet & next_lane) const;
lanelet::ConstLanelets getShoulderLanelets() const;
bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const;
bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const;

// for path
PathWithLaneId getCenterLinePath(
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5 changes: 5 additions & 0 deletions planning/route_handler/src/route_handler.cpp
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Expand Up @@ -1800,6 +1800,11 @@ bool RouteHandler::isShoulderLanelet(const lanelet::ConstLanelet & lanelet) cons
return lanelet::utils::contains(shoulder_lanelets_, lanelet);
}

bool RouteHandler::isRouteLanelet(const lanelet::ConstLanelet & lanelet) const
{
return lanelet::utils::contains(route_lanelets_, lanelet);
}

lanelet::ConstLanelets RouteHandler::getPreviousLaneletSequence(
const lanelet::ConstLanelets & lanelet_sequence) const
{
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