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fix(behavior_path_planner): if ego leaves the current lane turn the signal on #4348

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merged 4 commits into from
Oct 2, 2023
Merged

fix(behavior_path_planner): if ego leaves the current lane turn the signal on #4348

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57d1b2d
if ego leaves its lane due the avoidance, turn the signal on
Sep 26, 2023
ce0effb
add right_bound check
Sep 26, 2023
a1df3a1
style(pre-commit): autofix
pre-commit-ci[bot] Sep 26, 2023
91279f5
Merge branch 'main' into fix/turn-off-signal-when-avoiding
beyzanurkaya Oct 2, 2023
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27 changes: 25 additions & 2 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 @@ -17,6 +17,7 @@
#include "behavior_path_planner/marker_utils/avoidance/debug.hpp"
#include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
#include "behavior_path_planner/utils/avoidance/utils.hpp"
#include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
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#include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"
Expand Down Expand Up @@ -2543,9 +2544,31 @@ TurnSignalInfo AvoidanceModule::calcTurnSignalInfo(const ShiftedPath & path) con
turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
}
} else {
turn_signal_info.turn_signal.command = TurnIndicatorsCommand::DISABLE;
const lanelet::ConstLanelets current_lanes = utils::getCurrentLanes(planner_data_);
const auto local_vehicle_footprint =
createVehicleFootprint(planner_data_->parameters.vehicle_info);
boost::geometry::model::ring<tier4_autoware_utils::Point2d> shifted_vehicle_footprint;
for (const auto & cl : current_lanes) {
// get left and right bounds of current lane
const auto lane_left_bound = cl.leftBound2d().basicLineString();
const auto lane_right_bound = cl.rightBound2d().basicLineString();
for (size_t i = start_idx; i < end_idx; ++i) {
// transform vehicle footprint onto path points
shifted_vehicle_footprint = transformVector(
local_vehicle_footprint,
tier4_autoware_utils::pose2transform(path.path.points.at(i).point.pose));
if (
boost::geometry::intersects(lane_left_bound, shifted_vehicle_footprint) ||
boost::geometry::intersects(lane_right_bound, shifted_vehicle_footprint)) {
if (segment_shift_length > 0.0) {
turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
} else {
turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
}
}
}
}
}

if (ego_front_to_shift_start > 0.0) {
turn_signal_info.desired_start_point = planner_data_->self_odometry->pose.pose;
} else {
Expand Down