stage_approach.cc

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/planning/scenarios/emergency_pull_over/stage_approach.h"
 
#include <memory>
#include <string>
#include <vector>
 
#include "cyber/common/log.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/planning/planning_base/common/frame.h"
#include "modules/planning/planning_base/common/planning_context.h"
#include "modules/planning/planning_base/common/util/common.h"
 
namespace apollo {
namespace planning {
 
using apollo::common::TrajectoryPoint;
using apollo::common::VehicleConfigHelper;
using apollo::common::VehicleSignal;
 
StageResult EmergencyPullOverStageApproach::Process(
    const TrajectoryPoint& planning_init_point, Frame* frame) {
  ADEBUG << "stage: Approach";
  CHECK_NOTNULL(frame);
  auto scenario_context = GetContextAs<EmergencyPullOverContext>();
  const auto& scenario_config = scenario_context->scenario_config;
 
  auto& reference_line_info = frame->mutable_reference_line_info()->front();
  reference_line_info.LimitCruiseSpeed(
      scenario_context->target_slow_down_speed);
  // set vehicle signal
  reference_line_info.SetTurnSignal(VehicleSignal::TURN_RIGHT);
 
  double stop_line_s = 0.0;
 
  // add a stop fence
  const auto& pull_over_status =
      injector_->planning_context()->planning_status().pull_over();
  if (pull_over_status.has_position() && pull_over_status.position().has_x() &&
      pull_over_status.position().has_y()) {
    const auto& reference_line = reference_line_info.reference_line();
    common::SLPoint pull_over_sl;
    reference_line.XYToSL(pull_over_status.position(), &pull_over_sl);
    const double stop_distance = scenario_config.stop_distance();
    stop_line_s =
        pull_over_sl.s() + stop_distance +
        VehicleConfigHelper::GetConfig().vehicle_param().front_edge_to_center();
    const std::string virtual_obstacle_id = "EMERGENCY_PULL_OVER";
    const std::vector<std::string> wait_for_obstacle_ids;
    planning::util::BuildStopDecision(
        virtual_obstacle_id, stop_line_s, stop_distance,
        StopReasonCode::STOP_REASON_PULL_OVER, wait_for_obstacle_ids,
        "EMERGENCY_PULL_OVER-scenario", frame,
        &(frame->mutable_reference_line_info()->front()));
 
    ADEBUG << "Build a stop fence for emergency_pull_over: id["
           << virtual_obstacle_id << "] s[" << stop_line_s << "]";
  }
 
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  if (result.HasError()) {
    AERROR << "EmergencyPullOverStageApproach planning error";
  }
 
  if (stop_line_s > 0.0) {
    const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
    double distance = stop_line_s - adc_front_edge_s;
    const double adc_speed = injector_->vehicle_state()->linear_velocity();
    const double max_adc_stop_speed = common::VehicleConfigHelper::Instance()
                                          ->GetConfig()
                                          .vehicle_param()
                                          .max_abs_speed_when_stopped();
    ADEBUG << "adc_speed[" << adc_speed << "] distance[" << distance << "]";
    static constexpr double kStopSpeedTolerance = 0.4;
    static constexpr double kStopDistanceTolerance = 3.0;
    if (adc_speed <= max_adc_stop_speed + kStopSpeedTolerance &&
        std::fabs(distance) <= kStopDistanceTolerance) {
      return FinishStage();
    }
  }
 
  return result.SetStageStatus(StageStatusType::RUNNING);
}
 
StageResult EmergencyPullOverStageApproach::FinishStage() {
  next_stage_ = "EMERGENCY_PULL_OVER_STANDBY";
  return StageResult(StageStatusType::FINISHED);
}
 
}  // namespace planning
}  // namespace apollo