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feat(avoidance): ignore behind unavoidable objects (#4034) #601

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Jun 22, 2023
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feat(avoidance): ignore behind unavoidable objects (#4034) #601

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10 changes: 6 additions & 4 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -776,6 +776,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(
const auto & base_link2front = planner_data_->parameters.base_link2front;
const auto & base_link2rear = planner_data_->parameters.base_link2rear;

const auto is_forward_object = [](const auto & object) { return object.longitudinal > 0.0; };

AvoidLineArray avoid_lines;
std::vector<AvoidanceDebugMsg> avoidance_debug_msg_array;
avoidance_debug_msg_array.reserve(data.target_objects.size());
Expand All @@ -797,7 +799,7 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(
avoidance_debug_array_false_and_push_back(AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN);
o.reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN;
debug.unavoidable_objects.push_back(o);
if (o.avoid_required) {
if (o.avoid_required && is_forward_object(o)) {
break;
} else {
continue;
Expand All @@ -810,7 +812,7 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(
avoidance_debug_array_false_and_push_back(AvoidanceDebugFactor::SAME_DIRECTION_SHIFT);
o.reason = AvoidanceDebugFactor::SAME_DIRECTION_SHIFT;
debug.unavoidable_objects.push_back(o);
if (o.avoid_required) {
if (o.avoid_required && is_forward_object(o)) {
break;
} else {
continue;
Expand Down Expand Up @@ -850,7 +852,7 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(
if (!data.avoiding_now) {
o.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO;
debug.unavoidable_objects.push_back(o);
if (o.avoid_required) {
if (o.avoid_required && is_forward_object(o)) {
break;
} else {
continue;
Expand All @@ -868,7 +870,7 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(
if (!data.avoiding_now) {
o.reason = AvoidanceDebugFactor::TOO_LARGE_JERK;
debug.unavoidable_objects.push_back(o);
if (o.avoid_required) {
if (o.avoid_required && is_forward_object(o)) {
break;
} else {
continue;
Expand Down