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fix(obstacle_avoidance_planner): fix drivable area checker (#2639) #243

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merged 1 commit into from
Jan 13, 2023
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fix(obstacle_avoidance_planner): fix drivable area checker (#2639) #243

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4 changes: 2 additions & 2 deletions planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -358,8 +358,8 @@ namespace drivable_area_utils
{
bool isOutsideDrivableAreaFromRectangleFootprint(
const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point,
const std::vector<geometry_msgs::msg::Point> left_bound,
const std::vector<geometry_msgs::msg::Point> right_bound, const VehicleParam & vehicle_param);
const std::vector<geometry_msgs::msg::Point> & left_bound,
const std::vector<geometry_msgs::msg::Point> & right_bound, const VehicleParam & vehicle_param);
}

#endif // OBSTACLE_AVOIDANCE_PLANNER__UTILS__UTILS_HPP_
74 changes: 55 additions & 19 deletions planning/obstacle_avoidance_planner/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,10 @@
#include <stack>
#include <vector>

namespace bg = boost::geometry;
typedef bg::model::d2::point_xy<double> bg_point;
typedef bg::model::polygon<bg_point> bg_polygon;

namespace
{
std::vector<double> convertEulerAngleToMonotonic(const std::vector<double> & angle)
Expand Down Expand Up @@ -628,7 +632,7 @@ geometry_msgs::msg::Point getStartPoint(
return bound.front();
}

bool isOutsideDrivableArea(
bool isFrontDrivableArea(
const geometry_msgs::msg::Point & point,
const std::vector<geometry_msgs::msg::Point> & left_bound,
const std::vector<geometry_msgs::msg::Point> & right_bound)
Expand All @@ -644,32 +648,42 @@ bool isOutsideDrivableArea(
// ignore point behind of the front line
const std::vector<geometry_msgs::msg::Point> front_bound = {left_start_point, right_start_point};
const double lat_dist_to_front_bound = motion_utils::calcLateralOffset(front_bound, point);
if (lat_dist_to_front_bound < -min_dist) {
return false;
if (lat_dist_to_front_bound < min_dist) {
return true;
}

// left bound check
const double lat_dist_to_left_bound = motion_utils::calcLateralOffset(left_bound, point);
if (lat_dist_to_left_bound > min_dist) {
return true;
return false;
}

bg_polygon createDrivablePolygon(
const std::vector<geometry_msgs::msg::Point> & left_bound,
const std::vector<geometry_msgs::msg::Point> & right_bound)
{
bg_polygon drivable_area_poly;

// right bound
for (const auto rp : right_bound) {
drivable_area_poly.outer().push_back(bg_point(rp.x, rp.y));
}

// right bound check
const double lat_dist_to_right_bound = motion_utils::calcLateralOffset(right_bound, point);
if (lat_dist_to_right_bound < -min_dist) {
return true;
// left bound
auto reversed_left_bound = left_bound;
std::reverse(reversed_left_bound.begin(), reversed_left_bound.end());
for (const auto lp : reversed_left_bound) {
drivable_area_poly.outer().push_back(bg_point(lp.x, lp.y));
}

return false;
drivable_area_poly.outer().push_back(drivable_area_poly.outer().front());
return drivable_area_poly;
}
} // namespace

namespace drivable_area_utils
{
bool isOutsideDrivableAreaFromRectangleFootprint(
const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point,
const std::vector<geometry_msgs::msg::Point> left_bound,
const std::vector<geometry_msgs::msg::Point> right_bound, const VehicleParam & vehicle_param)
const std::vector<geometry_msgs::msg::Point> & left_bound,
const std::vector<geometry_msgs::msg::Point> & right_bound, const VehicleParam & vehicle_param)
{
if (left_bound.empty() || right_bound.empty()) {
return false;
Expand All @@ -694,12 +708,34 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -base_to_left, 0.0)
.position;

const bool out_top_left = isOutsideDrivableArea(top_left_pos, left_bound, right_bound);
const bool out_top_right = isOutsideDrivableArea(top_right_pos, left_bound, right_bound);
const bool out_bottom_left = isOutsideDrivableArea(bottom_left_pos, left_bound, right_bound);
const bool out_bottom_right = isOutsideDrivableArea(bottom_right_pos, left_bound, right_bound);
const bool front_top_left = isFrontDrivableArea(top_left_pos, left_bound, right_bound);
const bool front_top_right = isFrontDrivableArea(top_right_pos, left_bound, right_bound);
const bool front_bottom_left = isFrontDrivableArea(bottom_left_pos, left_bound, right_bound);
const bool front_bottom_right = isFrontDrivableArea(bottom_right_pos, left_bound, right_bound);

if (out_top_left || out_top_right || out_bottom_left || out_bottom_right) {
// create rectangle
const auto drivable_area_poly = createDrivablePolygon(left_bound, right_bound);

if (
!front_top_left && !bg::within(bg_point(top_left_pos.x, top_left_pos.y), drivable_area_poly)) {
return true;
}

if (
!front_top_right &&
!bg::within(bg_point(top_right_pos.x, top_right_pos.y), drivable_area_poly)) {
return true;
}

if (
!front_bottom_left &&
!bg::within(bg_point(bottom_left_pos.x, bottom_left_pos.y), drivable_area_poly)) {
return true;
}

if (
!front_bottom_right &&
!bg::within(bg_point(bottom_right_pos.x, bottom_right_pos.y), drivable_area_poly)) {
return true;
}

Expand Down