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feat(lane_departure_checker): check shoulder lane #2614

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merged 1 commit into from
Jan 12, 2023
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Merged

feat(lane_departure_checker): check shoulder lane #2614

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1 change: 1 addition & 0 deletions control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ struct Input
lanelet::LaneletMapPtr lanelet_map{};
LaneletRoute::ConstSharedPtr route{};
lanelet::ConstLanelets route_lanelets{};
lanelet::ConstLanelets shoulder_lanelets{};
Trajectory::ConstSharedPtr reference_trajectory{};
Trajectory::ConstSharedPtr predicted_trajectory{};
};
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1 change: 1 addition & 0 deletions ...rol/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
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Expand Up @@ -66,6 +66,7 @@ class LaneDepartureCheckerNode : public rclcpp::Node
geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_;
nav_msgs::msg::Odometry::ConstSharedPtr current_odom_;
lanelet::LaneletMapPtr lanelet_map_;
lanelet::ConstLanelets shoulder_lanelets_;
lanelet::traffic_rules::TrafficRulesPtr traffic_rules_;
lanelet::routing::RoutingGraphPtr routing_graph_;
LaneletRoute::ConstSharedPtr route_;
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10 changes: 9 additions & 1 deletion control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
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Expand Up @@ -123,7 +123,15 @@ Output LaneDepartureChecker::update(const Input & input)
output.vehicle_passing_areas = createVehiclePassingAreas(output.vehicle_footprints);
output.processing_time_map["createVehiclePassingAreas"] = stop_watch.toc(true);

output.candidate_lanelets = getCandidateLanelets(input.route_lanelets, output.vehicle_footprints);
const auto candidate_road_lanelets =
getCandidateLanelets(input.route_lanelets, output.vehicle_footprints);
const auto candidate_shoulder_lanelets =
getCandidateLanelets(input.shoulder_lanelets, output.vehicle_footprints);
output.candidate_lanelets = candidate_road_lanelets;
output.candidate_lanelets.insert(
output.candidate_lanelets.end(), candidate_shoulder_lanelets.begin(),
candidate_shoulder_lanelets.end());

output.processing_time_map["getCandidateLanelets"] = stop_watch.toc(true);

output.will_leave_lane = willLeaveLane(output.candidate_lanelets, output.vehicle_footprints);
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5 changes: 5 additions & 0 deletions ...ol/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
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Expand Up @@ -197,6 +197,10 @@ void LaneDepartureCheckerNode::onLaneletMapBin(const HADMapBin::ConstSharedPtr m
{
lanelet_map_ = std::make_shared<lanelet::LaneletMap>();
lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_, &traffic_rules_, &routing_graph_);

// get all shoulder lanes
lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_);
shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets);
}

void LaneDepartureCheckerNode::onRoute(const LaneletRoute::ConstSharedPtr msg) { route_ = msg; }
Expand Down Expand Up @@ -313,6 +317,7 @@ void LaneDepartureCheckerNode::onTimer()
input_.lanelet_map = lanelet_map_;
input_.route = route_;
input_.route_lanelets = route_lanelets_;
input_.shoulder_lanelets = shoulder_lanelets_;
input_.reference_trajectory = reference_trajectory_;
input_.predicted_trajectory = predicted_trajectory_;
processing_time_map["Node: setInputData"] = stop_watch.toc(true);
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