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fix(behavior_velocity_run_out_module): fix slow_down jerk filter #1744

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fix(behavior_velocity_run_out_module): fix slow_down jerk filter #1744

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34 changes: 15 additions & 19 deletions planning/behavior_velocity_run_out_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,11 +113,6 @@ bool RunOutModule::modifyPathVelocity(
insertStoppingVelocity(dynamic_obstacle, current_pose, current_vel, current_acc, *path);
}

// apply max jerk limit if the ego can't stop with specified max jerk and acc
if (planner_param_.slow_down_limit.enable) {
applyMaxJerkLimit(current_pose, current_vel, current_acc, *path);
}

publishDebugValue(
trim_smoothed_path, partition_excluded_obstacles, dynamic_obstacle, current_pose);

Expand Down Expand Up @@ -585,7 +580,8 @@ boost::optional<geometry_msgs::msg::Pose> RunOutModule::calcStopPoint(

void RunOutModule::insertStopPoint(
const boost::optional<geometry_msgs::msg::Pose> stop_point,
autoware_auto_planning_msgs::msg::PathWithLaneId & path)
autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc)
{
// no stop point
if (!stop_point) {
Expand All @@ -610,7 +606,14 @@ void RunOutModule::insertStopPoint(
stop_point_with_lane_id = path.points.at(nearest_seg_idx);
stop_point_with_lane_id.point.pose = *stop_point;

planning_utils::insertVelocity(path, stop_point_with_lane_id, 0.0, insert_idx);
double stop_point_velocity = 0.0;
// apply max jerk limit if the ego can't stop with specified max jerk and acc
if (planner_param_.slow_down_limit.enable) {
stop_point_velocity =
calcMaxJerkLimitedVelocity(current_pose, current_vel, current_acc, path, *stop_point);
}

planning_utils::insertVelocity(path, stop_point_with_lane_id, stop_point_velocity, insert_idx);
}

void RunOutModule::insertVelocityForState(
Expand Down Expand Up @@ -679,7 +682,7 @@ void RunOutModule::insertStoppingVelocity(
{
const auto stop_point =
calcStopPoint(dynamic_obstacle, output_path, current_pose, current_vel, current_acc);
insertStopPoint(stop_point, output_path);
insertStopPoint(stop_point, output_path, current_pose, current_vel, current_acc);
}

void RunOutModule::insertApproachingVelocity(
Expand Down Expand Up @@ -719,26 +722,19 @@ void RunOutModule::insertApproachingVelocity(
planning_utils::insertVelocity(output_path, stop_point_with_lane_id, 0.0, insert_idx_stop);
}

void RunOutModule::applyMaxJerkLimit(
double RunOutModule::calcMaxJerkLimitedVelocity(
const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc,
PathWithLaneId & path) const
PathWithLaneId & path, const geometry_msgs::msg::Pose & stop_point) const
{
const auto stop_point_idx = run_out_utils::findFirstStopPointIdx(path.points);
if (!stop_point_idx) {
return;
}

const auto stop_point = path.points.at(stop_point_idx.get()).point.pose.position;
const auto dist_to_stop_point =
motion_utils::calcSignedArcLength(path.points, current_pose.position, stop_point);
motion_utils::calcSignedArcLength(path.points, current_pose.position, stop_point.position);

// calculate desired velocity with limited jerk
const auto jerk_limited_vel = planning_utils::calcDecelerationVelocityFromDistanceToTarget(
planner_param_.slow_down_limit.max_jerk, planner_param_.slow_down_limit.max_acc, current_acc,
current_vel, dist_to_stop_point);

// overwrite velocity with limited velocity
run_out_utils::insertPathVelocityFromIndex(stop_point_idx.get(), jerk_limited_vel, path.points);
return jerk_limited_vel;
}

std::vector<DynamicObstacle> RunOutModule::excludeObstaclesOutSideOfPartition(
Expand Down
8 changes: 5 additions & 3 deletions planning/behavior_velocity_run_out_module/src/scene.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,9 @@ class RunOutModule : public SceneModuleInterface

void insertStopPoint(
const boost::optional<geometry_msgs::msg::Pose> stop_point,
autoware_auto_planning_msgs::msg::PathWithLaneId & path);
autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const geometry_msgs::msg::Pose & current_pose, const float current_vel,
const float current_acc);

void insertVelocityForState(
const boost::optional<DynamicObstacle> & dynamic_obstacle, const PlannerData planner_data,
Expand All @@ -129,9 +131,9 @@ class RunOutModule : public SceneModuleInterface
const DynamicObstacle & dynamic_obstacle, const geometry_msgs::msg::Pose & current_pose,
const float approaching_vel, const float approach_margin, PathWithLaneId & output_path);

void applyMaxJerkLimit(
double calcMaxJerkLimitedVelocity(
const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc,
PathWithLaneId & path) const;
PathWithLaneId & path, const geometry_msgs::msg::Pose & stop_point) const;

std::vector<DynamicObstacle> excludeObstaclesOutSideOfPartition(
const std::vector<DynamicObstacle> & dynamic_obstacles, const PathWithLaneId & path,
Expand Down
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