feat(lane_change): fix safety check functions (#661)

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

* fix(lane_change): fix activation timing of the  passParkedObject funtion (autowarefoundation#4239)

fix(lane_change): fix activation timing of the  passParkedObject function

Signed-off-by: yutaka <purewater0901@gmail.com>

* update

Signed-off-by: yutaka <purewater0901@gmail.com>

---------

Signed-off-by: yutaka <purewater0901@gmail.com>
Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>

planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md

@@ -463,6 +463,33 @@ The following parameters are configurable in `lane_change.param.yaml`.
 
 ## Debug Marker & Visualization
 
-To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner lane_change.publish_debug_marker true` (no restart is needed) or simply set the `publish_debug_marker` to `true` in the `lane_change.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanechange` in `rviz2`.
+To enable the debug marker, execute (no restart is needed)
 
-![debug](../image/lane_change/lane_change-debug.png)
+```shell
+ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner lane_change.publish_debug_marker true
+
+```
+
+or simply set the `publish_debug_marker` to `true` in the `lane_change.param.yaml` for permanent effect (restart is needed).
+
+Then add the marker
+
+```shell
+/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left
+```
+
+in `rviz2`.
+
+![debug](../image/lane_change/lane_change-debug-1.png)
+
+![debug2](../image/lane_change/lane_change-debug-2.png)
+
+![debug3](../image/lane_change/lane_change-debug-3.png)
+
+Available information
+
+1. Ego to object relation, plus safety check information
+2. Ego vehicle interpolated pose up to the latest safety check position.
+3. Object is safe or not, shown by the color of the polygon (Green = Safe, Red = unsafe)
+4. Valid candidate paths.
+5. Position when lane changing start and end.

planning/behavior_path_planner/include/behavior_path_planner/marker_util/debug_utilities.hpp

@@ -57,6 +57,10 @@ struct CollisionCheckDebug
   Pose expected_ego_pose{};
   Pose expected_obj_pose{};
   Pose relative_to_ego{};
+  double rss_longitudinal{0.0};
+  double ego_to_obj_margin{0.0};
+  double longitudinal_offset{0.0};
+  double lateral_offset{0.0};
   bool is_front{false};
   bool allow_lane_change{false};
   std::vector<Pose> lerped_path;

planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp

@@ -27,6 +27,51 @@
 namespace behavior_path_planner
 {
 
+struct PoseWithVelocity
+{
+  Pose pose;
+  double velocity;
+
+  PoseWithVelocity(const Pose & pose, const double velocity) : pose(pose), velocity(velocity) {}
+};
+
+struct PoseWithVelocityStamped : public PoseWithVelocity
+{
+  double time;
+
+  PoseWithVelocityStamped(const double time, const Pose & pose, const double velocity)
+  : PoseWithVelocity(pose, velocity), time(time)
+  {
+  }
+};
+
+struct PoseWithVelocityAndPolygonStamped : public PoseWithVelocityStamped
+{
+  Polygon2d poly;
+
+  PoseWithVelocityAndPolygonStamped(
+    const double time, const Pose & pose, const double velocity, const Polygon2d & poly)
+  : PoseWithVelocityStamped(time, pose, velocity), poly(poly)
+  {
+  }
+};
+
+struct PredictedPathWithPolygon
+{
+  float confidence;
+  std::vector<PoseWithVelocityAndPolygonStamped> path;
+};
+
+struct ExtendedPredictedObject
+{
+  unique_identifier_msgs::msg::UUID uuid;
+  geometry_msgs::msg::PoseWithCovariance initial_pose;
+  geometry_msgs::msg::TwistWithCovariance initial_twist;
+  geometry_msgs::msg::AccelWithCovariance initial_acceleration;
+  autoware_auto_perception_msgs::msg::Shape shape;
+  std::vector<PredictedPathWithPolygon> predicted_paths;
+};
+
 struct LaneChangeCancelParameters
 {
   bool enable_on_prepare_phase{true};
@@ -108,6 +153,13 @@ struct LaneChangeTargetObjectIndices
   std::vector<size_t> other_lane{};
 };
 
+struct LaneChangeTargetObjects
+{
+  std::vector<ExtendedPredictedObject> current_lane{};
+  std::vector<ExtendedPredictedObject> target_lane{};
+  std::vector<ExtendedPredictedObject> other_lane{};
+};
+
 enum class LaneChangeModuleType {
   NORMAL = 0,
   EXTERNAL_REQUEST,

planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp

@@ -19,6 +19,7 @@
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/safety_check.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <route_handler/route_handler.hpp>
@@ -42,6 +43,9 @@ using autoware_auto_perception_msgs::msg::PredictedObject;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_perception_msgs::msg::PredictedPath;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using behavior_path_planner::ExtendedPredictedObject;
+using behavior_path_planner::PoseWithVelocityAndPolygonStamped;
+using behavior_path_planner::PredictedPathWithPolygon;
 using data::lane_change::PathSafetyStatus;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
@@ -96,19 +100,12 @@ std::optional<LaneChangePath> constructCandidatePath(
   const double terminal_lane_changing_velocity, const LaneChangePhaseInfo lane_change_time);
 
 PathSafetyStatus isLaneChangePathSafe(
-  const LaneChangePath & lane_change_path, const PredictedObjects::ConstSharedPtr dynamic_objects,
-  const LaneChangeTargetObjectIndices & dynamic_object_indices, const Pose & current_pose,
-  const Twist & current_twist, const BehaviorPathPlannerParameters & common_parameter,
+  const LaneChangePath & lane_change_path, const LaneChangeTargetObjects & target_objects,
+  const Pose & current_pose, const Twist & current_twist,
+  const BehaviorPathPlannerParameters & common_parameter,
   const behavior_path_planner::LaneChangeParameters & lane_change_parameter,
   const double front_decel, const double rear_decel,
-  std::unordered_map<std::string, CollisionCheckDebug> & debug_data, const double prepare_acc,
-  const double lane_changing_acc);
-
-bool isObjectIndexIncluded(
-  const size_t & index, const std::vector<size_t> & dynamic_objects_indices);
-
-bool isObjectIndexIncluded(
-  const size_t & index, const std::vector<size_t> & dynamic_objects_indices);
+  std::unordered_map<std::string, CollisionCheckDebug> & debug_data);
 
 bool hasEnoughLength(
   const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes,
@@ -170,21 +167,32 @@ boost::optional<lanelet::ConstLanelet> getLaneChangeTargetLane(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes,
   const LaneChangeModuleType type, const Direction & direction);
 
+std::vector<PoseWithVelocityStamped> convertToPredictedPath(
+  const LaneChangePath & lane_change_path, const Twist & vehicle_twist, const Pose & pose,
+  const BehaviorPathPlannerParameters & common_parameter, const double resolution);
+
 PredictedPath convertToPredictedPath(
-  const PathWithLaneId & path, const Twist & vehicle_twist, const Pose & pose,
-  const size_t nearest_seg_idx, const double duration, const double resolution,
-  const double prepare_time, const double prepare_acc, const double lane_changing_acc);
+  const std::vector<PoseWithVelocityStamped> & path, const double time_resolution);
+
+bool isParkedObject(
+  const PathWithLaneId & path, const RouteHandler & route_handler,
+  const ExtendedPredictedObject & object, const double object_check_min_road_shoulder_width,
+  const double object_shiftable_ratio_threshold,
+  const double static_object_velocity_threshold = 1.0);
+
+bool isParkedObject(
+  const lanelet::ConstLanelet & closest_lanelet, const lanelet::BasicLineString2d & boundary,
+  const ExtendedPredictedObject & object, const double buffer_to_bound,
+  const double ratio_threshold);
 
 bool passParkedObject(
   const RouteHandler & route_handler, const LaneChangePath & lane_change_path,
-  const PathWithLaneId & current_lane_path, const PredictedObjects & objects,
-  const std::vector<size_t> & target_lane_obj_indices, const double minimum_lane_change_length,
-  const bool is_goal_in_route, const double object_check_min_road_shoulder_width,
-  const double object_shiftable_ratio_threshold);
+  const std::vector<ExtendedPredictedObject> & objects, const double minimum_lane_change_length,
+  const bool is_goal_in_route, const LaneChangeParameters & lane_change_parameters);
 
 boost::optional<size_t> getLeadingStaticObjectIdx(
   const RouteHandler & route_handler, const LaneChangePath & lane_change_path,
-  const PredictedObjects & objects, const std::vector<size_t> & obj_indices,
+  const std::vector<ExtendedPredictedObject> & objects,
   const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold);
 
 std::optional<lanelet::BasicPolygon2d> createPolygon(
@@ -194,6 +202,17 @@ LaneChangeTargetObjectIndices filterObject(
   const PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes,
   const lanelet::ConstLanelets & target_lanes, const lanelet::ConstLanelets & target_backward_lanes,
   const Pose & current_pose, const RouteHandler & route_handler,
-  const LaneChangeParameters & lane_change_parameter);
+  const LaneChangeParameters & lane_change_parameters);
+
+ExtendedPredictedObject transform(
+  const PredictedObject & object, const BehaviorPathPlannerParameters & common_parameters,
+  const LaneChangeParameters & lane_change_parameters);
+
+LaneChangeTargetObjects getTargetObjects(
+  const PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes,
+  const lanelet::ConstLanelets & target_lanes, const lanelet::ConstLanelets & target_backward_lanes,
+  const Pose & current_pose, const RouteHandler & route_handler,
+  const BehaviorPathPlannerParameters & common_parameters,
+  const LaneChangeParameters & lane_change_parameters);
 }  // namespace behavior_path_planner::utils::lane_change
 #endif  // BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTILS_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp

@@ -48,13 +48,9 @@ using geometry_msgs::msg::Twist;
 using marker_utils::CollisionCheckDebug;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
+using vehicle_info_util::VehicleInfo;
 
 namespace bg = boost::geometry;
-struct ProjectedDistancePoint
-{
-  Point2d projected_point;
-  double distance{0.0};
-};
 
 bool isTargetObjectFront(
   const PathWithLaneId & path, const geometry_msgs::msg::Pose & ego_pose,
@@ -65,10 +61,10 @@ bool isTargetObjectFront(
 
 Polygon2d createExtendedPolygon(
   const Pose & base_link_pose, const vehicle_info_util::VehicleInfo & vehicle_info,
-  const double lon_length, const double lat_margin);
+  const double lon_length, const double lat_margin, CollisionCheckDebug & debug);
 Polygon2d createExtendedPolygon(
-  const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin);
-double calcMaxDistFromPoseToPolygonPoint(const Pose & pose, const Polygon2d & polygon);
+  const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin,
+  CollisionCheckDebug & debug);
 
 double calcRssDistance(
   const double front_object_velocity, const double rear_object_velocity,
@@ -79,32 +75,33 @@ double calcMinimumLongitudinalLength(
   const double front_object_velocity, const double rear_object_velocity,
   const BehaviorPathPlannerParameters & params);
 
-/**
- * @brief Iterate the points in the ego and target's predicted path and
- *        perform safety check for each of the iterated points.
- * @return true if distance is safe.
- */
-bool isSafeInLaneletCollisionCheck(
-  const PathWithLaneId & path,
-  const std::vector<std::pair<Pose, tier4_autoware_utils::Polygon2d>> & interpolated_ego,
-  const Twist & ego_current_twist, const std::vector<double> & check_duration,
-  const double prepare_duration, const PredictedObject & target_object,
-  const PredictedPath & target_object_path, const BehaviorPathPlannerParameters & common_parameters,
-  const double prepare_phase_ignore_target_speed_thresh, const double front_decel,
-  const double rear_decel, CollisionCheckDebug & debug);
+boost::optional<PoseWithVelocityStamped> calcInterpolatedPoseWithVelocity(
+  const std::vector<PoseWithVelocityStamped> & path, const double relative_time);
+
+boost::optional<PoseWithVelocityAndPolygonStamped> getInterpolatedPoseWithVelocityAndPolygonStamped(
+  const std::vector<PoseWithVelocityStamped> & pred_path, const double current_time,
+  const VehicleInfo & ego_info);
 
 /**
  * @brief Iterate the points in the ego and target's predicted path and
  *        perform safety check for each of the iterated points.
+ * @param planned_path The predicted path of the ego vehicle.
+ * @param predicted_ego_path Ego vehicle's predicted path
+ * @param ego_current_velocity Current velocity of the ego vehicle.
+ * @param target_object The predicted object to check collision with.
+ * @param target_object_path The predicted path of the target object.
+ * @param common_parameters The common parameters used in behavior path planner.
+ * @param front_object_deceleration The deceleration of the object in the front.(used in RSS)
+ * @param rear_object_deceleration The deceleration of the object in the rear.(used in RSS)
+ * @param debug The debug information for collision checking.
  * @return true if distance is safe.
  */
-bool isSafeInFreeSpaceCollisionCheck(
-  const PathWithLaneId & path,
-  const std::vector<std::pair<Pose, tier4_autoware_utils::Polygon2d>> & interpolated_ego,
-  const Twist & ego_current_twist, const std::vector<double> & check_duration,
-  const double prepare_duration, const PredictedObject & target_object,
-  const BehaviorPathPlannerParameters & common_parameters,
-  const double prepare_phase_ignore_target_velocity_thresh, const double front_object_deceleration,
+bool checkCollision(
+  const PathWithLaneId & planned_path,
+  const std::vector<PoseWithVelocityStamped> & predicted_ego_path,
+  const ExtendedPredictedObject & target_object,
+  const PredictedPathWithPolygon & target_object_path,
+  const BehaviorPathPlannerParameters & common_parameters, const double front_object_deceleration,
   const double rear_object_deceleration, CollisionCheckDebug & debug);
 
 }  // namespace behavior_path_planner::utils::safety_check

planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp

@@ -380,11 +380,8 @@ lanelet::ConstLanelets calcLaneAroundPose(
   const double dist_threshold = std::numeric_limits<double>::max(),
   const double yaw_threshold = std::numeric_limits<double>::max());
 
-std::vector<PredictedPath> getPredictedPathFromObj(
-  const PredictedObject & obj, const bool & is_use_all_predicted_path);
-
-boost::optional<std::pair<Pose, Polygon2d>> getEgoExpectedPoseAndConvertToPolygon(
-  const PredictedPath & pred_path, const double current_time, const VehicleInfo & ego_info);
+std::vector<PredictedPathWithPolygon> getPredictedPathFromObj(
+  const ExtendedPredictedObject & obj, const bool & is_use_all_predicted_path);
 
 bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_threshold);
 
@@ -412,15 +409,6 @@ void makeBoundLongitudinallyMonotonic(PathWithLaneId & path, const bool is_bound
 std::optional<lanelet::Polygon3d> getPolygonByPoint(
   const std::shared_ptr<RouteHandler> & route_handler, const lanelet::ConstPoint3d & point,
   const std::string & polygon_name);
-
-bool isParkedObject(
-  const PathWithLaneId & path, const RouteHandler & route_handler, const PredictedObject & object,
-  const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold,
-  const double static_object_velocity_threshold = 1.0);
-
-bool isParkedObject(
-  const lanelet::ConstLanelet & closest_lanelet, const lanelet::BasicLineString2d & boundary,
-  const PredictedObject & object, const double buffer_to_bound, const double ratio_threshold);
 }  // namespace behavior_path_planner::utils
 
 #endif  // BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_