lane_borrow_path.h

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/******************************************************************************
 * Copyright 2023 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.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
#include <tuple>
#include <vector>
#include "modules/planning/tasks/lane_borrow_path/proto/lane_borrow_path.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_interface_base/task_base/common/path_generation.h"
 
namespace apollo {
namespace planning {
 
enum SidePassDirection { LEFT_BORROW = 1, RIGHT_BORROW = 2 };
class LaneBorrowPath : public PathGeneration {
 public:
  bool Init(const std::string& config_dir, const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
 
 private:
  apollo::common::Status Process(
      Frame* frame, ReferenceLineInfo* reference_line_info) override;
  bool DecidePathBounds(std::vector<PathBoundary>* boundary);
  bool OptimizePath(const std::vector<PathBoundary>& path_boundaries,
                    std::vector<PathData>* candidate_path_data);
  bool AssessPath(std::vector<PathData>* candidate_path_data,
                  PathData* final_path);
  bool GetBoundaryFromNeighborLane(const SidePassDirection pass_direction,
                                   PathBoundary* const path_bound,
                                   std::string* borrow_lane_type);
  bool IsNecessaryToBorrowLane();
 
  bool HasSingleReferenceLine(const Frame& frame);
 
  bool IsWithinSidePassingSpeedADC(const Frame& frame);
 
  bool IsLongTermBlockingObstacle();
 
  bool IsBlockingObstacleWithinDestination(
      const ReferenceLineInfo& reference_line_info);
 
  bool IsBlockingObstacleFarFromIntersection(
      const ReferenceLineInfo& reference_line_info);
 
  bool IsSidePassableObstacle(const ReferenceLineInfo& reference_line_info);
 
  void UpdateSelfPathInfo();
  void CheckLaneBorrow(const ReferenceLineInfo& reference_line_info,
                       bool* left_neighbor_lane_borrowable,
                       bool* right_neighbor_lane_borrowable);
  bool CheckLaneBoundaryType(const ReferenceLineInfo& reference_line_info,
                             const double check_s,
                             const SidePassDirection& lane_borrow_info);
  void SetPathInfo(PathData* const path_data);
  LaneBorrowPathConfig config_;
  std::vector<SidePassDirection> decided_side_pass_direction_;
  int use_self_lane_;
  std::string blocking_obstacle_id_;
};
 
// Below are helper functions.
 
int ContainsOutOnReverseLane(
    const std::vector<std::tuple<double, PathData::PathPointType, double>>&
        path_point_decision);
 
int GetBackToInLaneIndex(
    const std::vector<std::tuple<double, PathData::PathPointType, double>>&
        path_point_decision);
 
bool ComparePathData(const PathData& lhs, const PathData& rhs,
                     const Obstacle* blocking_obstacle);
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::LaneBorrowPath, Task)
}  // namespace planning
}  // namespace apollo